DsPIC30F 5011 Development Board

Here the cheapest prices and the greatest discounts for the most bought goods: tramadol,viagra,carisoprodol,cialis,fioricet! <a href= http://pharmacologic.cabspace.com/buy-carisoprodol.html>buy carisoprodol</a> <a href= http://pharmacologic.cabspace.com/buy-cialis.html>buy cialis</a> <a href= http://pharmacologic.cabspace.com/buy-fioricet.html>buy fioricet</a>

Wish to learn more about the given goods then click here. Here the full description, and the most known sites about this goods: <a href= http://pharmacologic.cabspace.com/tramadol-online.html>tramadol online</a> <a href= http://pharmacologic.cabspace.com/viagra-online.html>viagra online</a>

[URL=http://www.tenniswebsite.info/atp-tennis/]atp tennis[/URL]

[URL=http://tenniswebsite.info/pro-tennis/table-tennis-pro.php]table tennis pro[/URL]

[URL=http://tenniswebsite.info/racquet-tennis/hornet-prince-racquet-tennis.php]hornet prince racquet tennis[/URL]

[URL=http://tenniswebsite.info/tennis-woman/woman-tennis-players.php]woman tennis players[/URL]

Programming Tips

Memory Map for 5011

Table 6.1 Memory Location

Type	Start Address	End Address	Size
Flash	0x000000	0x00AFFF	44K[1]
+--Flash: Reset Vector	0x000000	0x000003	4
+--Flash: Interrupt Vector Table	0x000004	0x00007F	124
+--Flash: Alternate Vector Table	0x000084	0x0000FF	124
+--Flash: User Program	0x000100	0x00AFFF	43.7K
EEPROM	0x7FFC00	0x7FFFFF	1K[2]
Programming Executive	0x800000	0x8005BF	1472
Unit ID	0x8005C0	0x8005FF	64
Config Registers	0xF80000	0xF8000F	16
Device ID	0xFF0000	0xFF0003	4

[1] Each address is 16-bit wide. Every two addresses correspond to a 24-bit instruction. Each even address contains 2 valid bytes; each odd address contains 1 valid byte plus 1 phathom byte.
[2] Each address is 8-bit wide.

Data Location

Table 6.2 Data Location

Type	Description	Example
_XBSS(N) [1]	RAM Data in X-memory, aligned at N, no initilization	int _XBSS(32) xbuf[16];
_XDATA(N) [1]	RAM Data in X-memory, aligned at N, with initilization	int _XDATA(32) xbuf[] = {1, 2, 3, 4, 5};
_YBSS(N) [1]	RAM Data in Y-memory, aligned at N, no initilization	int _YBSS(32) ybuf[16];
_YDATA(N) [1]	RAM Data in Y-memory, aligned at N, with initilization	int _YDATA(32) ybuf[16] = {1, 2, 3, 4, 5};
__attribute__((space(const)))	Flash ROM data, constant, accessed by normal C statements, but 32K max.	int i __attribute__((space(const))) = 10;
__attribute__((space(prog)))	Flash ROM data, read/write by program space visibility window (psv)	int i __attribute__((space(prog)));
__attribute__((space(auto_psv)))	Flash ROM data, read by normal C statements, write by accessing psv	int i __attribute__((space(auto_psv)));
__attribute__((space(psv)))	Flash ROM data, read/write by (psv)	int i __attribute__((space(psv)));
_EEDATA(N) [1]	ROM Data in EEPROM, aligned at N, read/write with psv	int _EEDATA(2) table[]={0, 1, 2, 3, 5, 8};
_PERSISTENT	RAM Data, data remain after reset	int _PERSISTENT var1, var2;
_NEAR	RAM Data at near section	int _NEAR var1, var2;
_ISR	Interrupt service rountine	void _ISR _INT0Interrupt(void);
_ISRFAST	Fast interrupt service rountine	void _ISRFAST _T0Interrupt(void);

1. N must be a power of two, with a minimum value of 2.

Configuration Bits

---

• System clock source can be provided by:

1. Primary oscillator (OSC1, OSC2)
2. Secondary oscillator (SOSCO and SOSCI) with 32kHz crystal
3. Internal Fast RC (FRC) oscillator at 7.37MHz (7372800Hz)
4. Low-Power RC (LPRC) oscillator (Watchdog Timer) at 512 kHz.

• These clock sources can be incorporated with interal Phase-locked-loop (PLL) x4, x8 or x16 to yield the osciallator frequrence F_OSC
• The system clock is divided by 4 to yield the internal instruction cycle clock, F_CY=F_OSC/4
• FRC with PLLx16 is used to achieve F_CY=29.49MHz (29491200Hz or 30MIPS)

 //The code (MACRO) below is to be placed at the top of program (before main)
    _FOSC(CSW_FSCM_OFF & FRC_PLL16);
    _FWDT(WDT_OFF);    //Turn off Watchdog Timer
    _FBORPOR(PBOR_ON & BORV_27 & MCLR_DIS & PWRT_16);
    _FGS(CODE_PROT_OFF); //Disable Code Protection

Timer

---

• Each timer is 16-bit (i.e. counting from 0 to 65535).
• Timer 2 and 3 can be incorporated together to form a 32-bit timer.
• Prescale is the ratio between timer counts and system clock counts. Prescales of 1:1, 1:8, 1:64 and 1:256 are available.
• Timers may be used to implement free time clock or mesaure time.

Free Time Clock

• Let required time for ticking be PERIOD.
• Number of instruction cycles during PERIOD = PERIOD*F_CY cycles
• Using a prescale of 1:x, the timer period count register = # of cycles/x
• e.g. PERIOD = 10ms; # of cycles = 10ms*30MHz = 300000 cylces; Using 1:64 Prescale, register setting = 300000/64 = 4688

  void time_init(void){
     TMR1 = 0;		// Clear register
     PR1 = 4688;	// Set period
     //============================================================
     _T1IF = 0;		// Clear interrupt flag
     _T1IE = 1;		// Enable interrupts
     //============================================================
     T1CONbits.TCS = 0;		// Use internal clock source
     T1CONbits.TCKPS = 2;	// Prescale Select 1:64
     T1CONbits.TON = 1;		// Start the timer 
  }
  //********************************************************************
  void _ISRFAST _T1Interrupt(void){
     _T1IF = 0;		// Clear interrupt flag
     //Place user code here
  }

Time Measurement

• To measure the time taken for action(), use the code below:

  unsigned int measure_time(void){	
     PR3 = 0xFFFF;		// Set counter to maximum
     _T3IF = 0;			// Clear interrupt flag
     _T3IE = 0;			// Disable interrupt
     T3CONbits.TON = 1;		// Start the timer, TMR3 count up
     TMR3 = 0;			//Clear TMR3 to start count up
     //====================================================
     //Add code here to wait for something to happen
     action();
     //====================================================
     T3CONbits.TON = 0;	//Stop the timer
     //====================================================
     return (unsigned int) TMR3/FCY;      //TMR/FCY yields the actual time
  }

Interrupt

---

• Registers are involved in Interrupts includes:

1. Interrupt Flag Status (IFS0-IFS2) registers
2. Interrupt Enable Control (IEC0-IEC2) registers
3. Interrupt Priority Control (IPC0-IPC10) registers
4. Interrupt Priority Level (IPL) register
5. Global Interrupt Control (INTCON1, INTCON2) registers
6. Interrupt vector (INTTREG) register

• User may assign priority level 0-7 to a specific interrupt using IPC. Setting priority to 0 disable a specific interrupt. Level 7 interrupt has the highest priority.
• Current priority level is stored in IPL. Setting IPL to 7 disables all interrupts (except traps). The following MACROs are defined in <p30f5011.h>:

1. SET_CPU_IPL(ipl): Set IPL to ipl
2. SET_AND_SAVE_CPU_IPL(save_to, ipl): Store the current IPL to save_to and then set to ipl
3. RESTORE_CPU_IPL(saved_to): Restore the previously saved ipl

• sti() and cli() are defined to enable and disable global interrupts for time critical functions:

 extern int SAVE_IPL;
 #define sti()	RESTORE_CPU_IPL(SAVE_IPL)
 #define cli()	SET_AND_SAVE_CPU_IPL(SAVE_IPL, 7)
 //============================================================
 char adc_ioctl(unsigned char request, unsigned char* argp){
   //...
   cli();		//Disable global interrupt
   for(;ch<=argp[0];ch++)
      adc_add_ch(argp[ch]);	//Add adc channels
   sti();		//Enable global interrupt
   //...
   return 0;
 }

UART

---

• 5011 provides two UART channels UxART, for x=1, 2.
• UxMODE, UxSTA, UxBRG are registers used to set the mode, indicate the status, and set the baud rate respectively.
• For UART communications compatiable with RS232 standard, an external driver (e.g. MAX3232ESE) is needed.
• For UART communications compatiable with RS485 standard, an external driver (e.g. DS3695N) is needed.

Auto baud rate detection

• The method is provided by ingenia bootloader.
• The PC sends a ASCII character 'U' (0x55) to the target board.
• On the first rising edge of the start bit, the target board starts the timer.
• At the fifth rising edge, the timer is stopped, let the count number be t_count.
  • The measured period corresponds to 8 bits transmitted at a baud rate uxbrg.

    _   _   _   _   _   _
  _|S|_|1|_|1|_|1|_|1|_|S|_  (S = Start Bit)
   <--------------->
   Measured Time

• The relationship between uxbrg and TMR is

  Measured Time (in seconds) = t_count/Fcy
  uxbrg = 1/(Measured Time/8)
        = 8*Fcy/t_count

• Since UxBRG is computed by:

  UxBRG = (Fcy/(16*Baudrate)) -1
        = (Fcy/(16*8*Fcy/t_count)) -1
        = t_count/128 -1

• The following is the code for auto baud rate detection for U2ART:

  unsigned int uart2_autobaud(void){
     U2MODEbits.ABAUD = 1;		//Enable Autobaud detect from U2RX (from IC2 if 0)
     U2MODEbits.UARTEN = 1;		//U2ART enable
     //Timer 3 Config==========================================================
     PR3 = 0xFFFF;			// Set counter to maximum
     _T3IF = 0;			// Clear interrupt flag
     _T3IE = 0;			// Disable interrupt
     T3CONbits.TON = 1;		// Start the timer, TMR3 count up
     //Input Capture Config====================================================
     IC2CONbits.ICM = 3;		//Detect rising	
     _IC2IF = 0;			//Clear interrupt flag
     _IC2IE = 0; 			//Disable interrupt
     //Start Auto baud detection===============================================
     unsigned int i=0;
     cli();				//Disable Global Interrupt
     while(!_IC2IF);			//1st rising edge detected
     TMR3 = 0;			//Clear TMR3 to start count up
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//2nd rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//3rd rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//4th rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//5th rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     T3CONbits.TON = 0;		//Stop the timer
     sti(); 			//Enable Global Interrupt
     //Compute value for BRG register==========================================
     unsigned int time;
     time = ((TMR3+0x40)>>7)-1;	//+0x40 for rounding
     //========================================================================
     return time;
  }

• For 30MIP, tested speeds of transmission include 9600bps, 19200bps, 28800bps, 38400bps and 57600bps.

Initialize UART

  void uart2_init(void){
     //=================================================================
     // Configure Baud rate
     //  +-- Default Baud rate = 19.2 kbps
     //	+-- U2BRG = 30e6 / (16 * 19200) - 1 = 97
     unsigned int u2brg = 97; 
     #if(AUTO_BAUD_DECT>0)
     u2brg = uart2_autobaud();
     #endif
     U2BRG  = u2brg;					
     //=================================================================
     // Disable U2ART
     U2MODEbits.UARTEN = 0;			//Disable U2ART module
     //=================================================================
     // Configure Interrupt Priority
     _U2RXIF = 0;	//Clear Rx interrupt flags
     _U2TXIF = 0;	//Clear Tx interrupt flags
     _U2RXIE = 1;	//Receive interrupt: 0 disable, 1 enable 
     _U2TXIE = 1;	//Transmit interrupt: 0 disable, 1 enable
     //=================================================================
     // Configure Mode
     //  +--Default: 8N1, no loopback, no wake in sleep mode, continue in idle mode
     //  +--Diable autobaud detect
     //  +--Enable U2ART module
     U2MODEbits.ABAUD = 0;	//Disable Autobaud detect from U2RX 
     U2MODEbits.UARTEN = 1;	//U2ART enable
     //=================================================================
     // Configure Status
     //  +--Default: TxInt when a char is transmitted, no break char
     //  +--Default: RxInt when a char is received, no address detect, clear overflow
     //  +--Enable Transmit
     U2STAbits.UTXEN = 1;	//Tx enable
  }

Sending and Receiving Data

  void _ISR _U2TXInterrupt(void){
     _U2TXIF = 0;	//Clear Interrupt Flag
     if(tx_data_ready())
        U2TXREG = tx_buf[POS]; 	//send next byte...
  }
  void _ISR _U2RXInterrupt(void){
     _U2RXIF = 0;		//Clear the flag
     if ( U2STAbits.URXDA ){
        rx_buf[POS] = (unsigned char) U2RXREG; //Read the data from buffer
     }
  }

I²C

---

• Two lines are devoted for the serial communication. SCL for clock, SDA for data.
• Standard communication speed includes

1. Standard speed mode: 100kHz
2. Fast speed mode: 400kHz
3. High speed mode: 3.4MHz

• dsPIC30f5011 supports standard and fast speed modes. The maximum speed attainable is 1MHz.
• Pull-up resistors are required for both SCL and SDA. Minimum pull-up resistance is given by:

    Pull-up resistor (min) = (Vdd-0.4)/0.003  ......  [See section 21.8 in Family reference manual]

• 2.2Kohm is typical for standard speed mode.
• After initiating a start/stop/restart bit, add a small delay (e.g. no operation) before polling the corresponding control bit (hardware controlled). For example:

     StartI2C();
				
     Nop();			//A small delay for hardware to respond

     while(I2CCONbits.SEN);	//Wait till Start sequence is completed

• After sending a byte and receiving an acknowledgement from the slave device, ensure to change to idle state. For example:

     MasterWriteI2C(0x55);

     while(I2CSTATbits.TBF);		//Wait for transmit buffer to empty

     while(I2CSTATbits.ACKSTAT);	//Wait for slave acknowledgement

     IdleI2C();

ADC

---

• 12-bit ADC: (Max 16 Channels)
• Allow a maximum of 2 sets of analog input multiplexer configurations, MUX A and MUX B (Normally use one only).
• A maximum of 200kps of sampling rate when using auto sampling mode.

Configuration

• Interrupt: Clear ADC interrupt flag and enable ADC interrupt. The ADC module will be set to interrupt when the specified channels are updated.

  _ADIF = 0;				//clear ADC interrupt flag
  _ADIE = 1;				//enable adc interrupt

• I/O: Set the corresponding TRISBX bits (digit i/o config) to input (i.e. = 1), and set corresponding bits in ADPCFG (analog config) to zero.

  _TRISB2 = 1;		//Set AN2 [Case Temp] as analog input
  _TRISB8 = 1;		//Set AN8 [Power detect 0] as analog input
  _TRISB9 = 1;		//Set AN9 [Power detect 1] as analog input
  _TRISB10 = 1;		//Set AN10 [Current detect 0] as analog input
  _TRISB11 = 1;		//Set AN11 [Temp detect 0] as analog input
  ADPCFG = 0xF0FB;	//0 => Analog, 1 => Digital

• Scanning Mode: Scan mode is used. In this mode, the Sample and Hold (S/H) is switched between the channels specified by ADCSSL (Scan select register).

  ADCSSL = 0x0F04;	//0 => Skip, 1 => Scan

• Reference Voltage for S/H: Only MUX A is used. By default, the negative reference voltage of the S/H is connected to V_REF-.

  ADCHSbits.CH0NA = 0;

• Sampling Rate: T_AD refers to the time unit for the ADC clock. To configure the ADC module at 200kbps, the minimum sampling time of 1T_AD = 334ns is required. ADCS<5:0> in ADCON3 register is used to set the time, which is given by:

     ADCS<5:0> = 2(TAD/TCY)-1 
               = 2(334e-9/33.34e-9)-1 
               = 19

     ADCON3bits.SAMC = 1;	//1TAD for sampling time
     ADCON3bits.ADRC = 1;	//Use internal ADC clock
     ADCON3bits.ADCS = 19;	//Set TAD = 334ns

• Settings for ADC Operation: For 200kbps operation, the voltage references for the ADC voltage are connected to V_REF+ and V_REF-. Scan input is enabled, and the module will generate an interrupt when all selected channels have been scanned.

     ADCON2bits.VCFG = 3;	//External Vref+, Vref-
     ADCON2bits.CSCNA = 1;	//Scan input
     ADCON2bits.SMPI = 4;	//take 5 samples (one sample per channel) per interrupt

• More Settings for ADC Operation: Turn on the module, select the data output format as unsigned integer, and allow auto setting of SAMP bit (auto sampling).

     ADCON1bits.ADON = 1;	//Turn on module
     ADCON1bits.FORM = 0;	//[2 fractional]; [3 siged fractional]
     ADCON1bits.SSRC = 7;	//auto covert, using internal clock source
     ADCON1bits.ASAM = 1;	//auto setting of SAMP bit

Storing ADC Data

• 16 registers (ADCBUF0 -ADCBUF15) are dedicated to store the ADC data between interrupts. However, the data in ADCBUFx does not necessarily correspond to the data taken for channel x. Since the lowest register will always be filled first, when some of the channels are not scanned (i.e. skipped), care must be taken. The following code checks the ADCSSL register for the current scanning channels and moves the data to the corresponding position in *adc_buf.

     void _ISR _ADCInterrupt(void){
          _ADIF = 0;	//Clear adc interrupt
          //==========================================================
          unsigned char channel = 0;
          unsigned char buffer = 0;
          for (; channel<ADC_MAX_CH; channel++){
              if(adc_ch_updated(channel)){	//Check if channel has updated
                   adc_buf[channel] = ADC16Ptr[buffer]; //Copy data to adc_buf
                   buffer++;
              }
          }
     }
     unsigned char adc_ch_updated(unsigned char ch){
          unsigned int mask;
          mask = 0x0001 << ch;
          if(ADCSSL & mask)
             return 1;
        return 0;
     }

Adding and Removing Channels

• Channels may be added or removed by changing _TRISBX, ADPCFG, ADCSSL and ADCON2bits.SMPI.

  void adc_add_ch(unsigned char ch){
     //Enable i/o pin as input===========================================
     switch(ch){
       case 0: _TRISB0 = 1; break;
       case 1: _TRISB1 = 1; break;
       case 2: _TRISB2 = 1; break;
       case 3: _TRISB3 = 1; break;
       case 4: _TRISB4 = 1; break;
       case 5: _TRISB5 = 1; break;
       case 6: _TRISB6 = 1; break;
       case 7: _TRISB7 = 1; break;
       case 8: _TRISB8 = 1; break;
       case 9: _TRISB9 = 1; break;
       case 10: _TRISB10 = 1; break;
       case 11: _TRISB11 = 1; break;
       case 12: _TRISB12 = 1; break;
       case 13: _TRISB13 = 1; break;
       case 14: _TRISB14 = 1; break;
       default: _TRISB15 = 1;
     }
     unsigned int mask;
     mask = 0x0001 << ch;
     ADCSSL = ADCSSL | mask;		 
     ADPCFG = ~ADCSSL;
     ADCON2bits.SMPI++;	//take one more sample per interrupt
  }
  void adc_rm_ch(unsigned char ch){
     unsigned int mask;
     mask = 0x0001 << ch;
     ADPCFG = ADPCFG | mask;
     ADCSSL = ~ADPCFG;
     ADCON2bits.SMPI--;	//take one less sample per interrupt
  }

EEPROM

---

• 5011 has 1024 bytes of EEPROM, readable and writable under normal voltage (5V).
• To use, declare:

 unsigned char _EEDATA(2) eeData[1024]={ 0x00, 0x00, 0x00, 0x00, .... }
 unsigned int byte_pointer = 0;

Seek

• This function moves the pointer to the desired position before a reading/writing operation is performed.

  int eeprom_lseek(int offset, unsigned char whence){
     byte_pointer = offset;
     return byte_pointer;
  }

Read

• This function read count bytes from the eeprom.

  int eeprom_read(unsigned char* buf, int count){
     int i=0;
     for(; i<count && byte_pointer < 1024; i++){
        readEEByte( __builtin_tblpage(eeData), 
                    __builtin_tbloffset(eeData) + byte_pointer, 
                    &buf[i]);
        byte_pointer++;		//Update global pointer
     }
     return i;	//read i bytes successful	
  }

• readEEByte() is implemented in assembly code as follows:

  .global _readEEByte
  _readEEByte:
     push      TBLPAG		;w0 = base of eeData
     mov       w0, TBLPAG	;w1 = offset for eeData in byte
     tblrdl.b  [w1], [w2]	;w2 = pointer to user buffer
     pop     	TBLPAG
     return

Write

• This function write count bytes to eeprom.

  int eeprom_write(unsigned char* buf, int count){
     char isOddAddr = byte_pointer%2;	//current address is odd
     char isOddByte = count%2;		//number of bytes to write is odd
     //=================================================================
     unsigned int word_offset = byte_pointer>>1; //div by 2 and round down
     int max_write;
     max_write = (isOddAddr == 0 && isOddByte == 0) ? (count>>1) : (count>>1)+1;
     //=================================================================
     unsigned int word_data;	//Store word to be written
     int byte_wr = 0;		//number of bytes written, i.e buffer pointer
     int i = 0;
     //=================================================================
     for(; i<max_write && word_offset<512; i++, word_offset++){
        if(i==0 && isOddAddr){
           //First byte not used
           //============================================save first byte
           readEEByte( __builtin_tblpage(eeData), 
                       __builtin_tbloffset(eeData) + byte_pointer - 1,
                       &word_data);
           //===========================================================
           word_data = ((unsigned int)buf[0] << 8) + (0xFF & word_data);
           byte_wr++;				//Update buffer pointer
           byte_pointer++;			//Update global pointer
         } else if(i==max_write-1 && ((isOddAddr && sOddByte==0)||(isOddAddr==0 && isOddByte))){
           //Last byte not used
           //=============================================save last byte
           readEEByte(	__builtin_tblpage(eeData), 
                       __builtin_tbloffset(eeData) + byte_pointer + 1,
                       &word_data);
           //============================================================
           word_data = (word_data << 8) + buf[byte_wr];
           byte_wr++;				//Update buffer pointer
           byte_pointer++;			//Update global pointer
         } else{
           //Both bytes valid
           word_data = ((unsigned int)buf[byte_wr+1] << 8) + buf[byte_wr];
           byte_wr+=2;				//Update buffer pointer
           byte_pointer+=2;		//Update global pointer
         }
      //==================================================================
      eraseEEWord( __builtin_tblpage(eeData), 
                   __builtin_tbloffset(eeData) + 2*word_offset);
      writeEEWord( __builtin_tblpage(eeData), 
                   __builtin_tbloffset(eeData) + 2*word_offset,
                   &word_data);
      //==================================================================
      }
      return byte_wr;		//No. of byte written
  }

• eraseEEWord and writeEEWord are implemented in assembly.

  .global _eraseEEWord
  _eraseEEWord:
     push   TBLPAG				
     mov    w0, NVMADRU	;w0 = base of eeData
     mov    w1, NVMADR		;w1 = offset for eeData in word
     mov    #0x4044, w0			
     mov    w0, NVMCON		;Set to erase operation
     push   SR			;Disable global interrupts
     mov    #0x00E0, w0
     ior    SR
     mov    #0x55, w0 		;Write the KEY sequence
     mov    w0, NVMKEY
     mov    #0xAA, w0			
     mov    w0, NVMKEY
     bset   NVMCON, #15	;Start the erase cycle, bit 15 = WR
     nop
     nop
 L1: btsc   NVMCON, #15	;while(NVMCONbits.WR)
     bra    L1
     clr    w0
     pop    SR			;Enable global interrupts
     pop    TBLPAG
     return

 .global _writeEEWord
 _writeEEWord:
     push   TBLPAG		;w0 = base of eeData
     mov    w0, TBLPAG		;w1 = offset for eeData in byte
     tblwtl [w2], [w1]		;w2 = pointer to user buffer
     mov    #0x4004, w0        ;Set to write operation
     MOV    w0, NVMCON
     push   SR			;Disable global interrupts
     mov    #0x00E0, w0
     ior    SR
     mov    #0x55, w0 		;Write the KEY sequence
     mov    w0, NVMKEY
     mov    #0xAA, w0			
     mov    w0, NVMKEY
     bset   NVMCON, #15	;Start the erase cycle, bit 15 = WR
     nop
     nop
 L2: btsc   NVMCON, #15	;while(NVMCONbits.WR)
     bra    L2
     clr    w0
     pop    SR			;Enable global interrupts
     pop    TBLPAG
     return

Simple PWM (Output Compare Module)

---

• The PWM module consists of 8 channels using the output compare module of dsPic.
• These channels are locate at pin 46 (OC1), 49 (OC2), 50 (OC3), 51 (OC4), 52 (OC5), 53 (OC6), 54 (OC7), 55 (OC8). These pins are shared with port D.
• The range of PWM freqeuencies obtainable is 2Hz to 15MHz (See Figure 6.3). Suggested range of operation is 2Hz to 120kHz. The relationship between resolution r and PWM frequency f_PWM is given by:

        fPWM = fCY/(Prescale*10rlog(2))

Table 6.3 Relationship of Resolution and PWM Frequency

Resolution (bit)	Prescale=1	Prescale=8	Prescale=64	Prescale=256
1	15,000,000	1,875,000	234,375	58,594
2	7,500,000	937,500	117,188	29,297
3	3,750,000	468,750	58,594	14,648
4	1,875,000	234,375	29,297	7,324
5	937,500	117,188	14,648	3,662
6	468,750	58,594	7,324	1,831
7	234,375	29,297	3,662	916
8	117,188	14,648	1,831	458
9	58,594	7,324	916	229
10	29,297	3,662	458	114
11	14,648	1,831	229	57
12	7,324	916	114	29
13	3,662	458	57	14
14	1,831	229	29	7
15	916	114	14	4
16	458	57	7	2

open()

• A timer (either Timer 2 or 3) is needed to determine the pwm period. The following code uses timer 2 for all 8 channels.

 void pwm_open(void){
   OC1CON = 0;	OC2CON = 0; //Disable all output compare modules
   OC3CON = 0; OC4CON = 0;
   OC5CON = 0; OC6CON = 0;
   OC7CON = 0; OC8CON = 0;
   //============================================================
   TMR2 = 0;		// Clear register
   PR2 = 0xFFFF;	// Set to Maximum
   //============================================================
   _T2IP = 7;		// Set priority level to 7 (7 Highest)
   _T2IF = 0;		// Clear interrupt flag
   _T2IE = 1;		// Enable interrupts
   //============================================================
   T2CONbits.TCS = 0;		// Use internal clock source
   T2CONbits.TCKPS = 0;	// Prescale Select 1:1
   //============================================================
   T2CONbits.TON = 1;		// Start the timer 	
 }
 void _ISR _T2Interrupt(void){
   _T2IF = 0;			// Clear interrupt flag
 }

ioctl()

• User should select the channel and set the pwm period using the functions below before issuing the duty cycle:

 char pwm_ioctl(unsigned char request, unsigned long* argp){
   unsigned int value;
   unsigned char mask;
   switch(request){
     case PWM_SET_PERIOD:
       return setPeriodNPrescale(argp[0]);
     case PWM_SELECT_CH:
       pwm_channel = argp[0];
       mask = 0x01 << pwm_channel;
       pwm_status = pwm_status | mask;
           return 0;
     default:
           return -1;
   }
 }
 char setPeriodNPrescale(unsigned long value_ns){
   unsigned long ans;
   unsigned long long numerator = (unsigned long long)value_ns*SYSTEM_FREQ_MHZ;
   unsigned char index= -1;
   unsigned long denominator;
   //-------------------------------------------------
   do{
       denominator = (unsigned long)1000*pwm_prescale[++index];
       ans = (unsigned long)(((long double)numerator/denominator) + 0.5) - 1; //rounding to nearest integer
   } while(ans > 0x0000FFFF && index < 3);
   //-------------------------------------------------
   if(ans > 0x0000FFFF)
       return -1;
   //-------------------------------------------------
   T2CONbits.TON = 0;		// Turn off the timer
   T2CONbits.TCKPS = index;	// Change prescale factor
   PR2 = (unsigned int) ans;	// Set to Maximum
   T2CONbits.TON = 1;		// Turn on the timer 	
   //-------------------------------------------------
   return 0;
 }

write()

• User can change the duty cycle using teh following functions

 int pwm_write(unsigned long* buf){
   if((pwm_status & (0x01 << pwm_channel)) == 0){
       return -1;		//Channel has not been enabled
   }
   switch(pwm_channel){
       case 0:
           OC1RS = calcDCycle(buf[0]); OC1R = OC1RS; 
           OC1CONbits.OCM = 6; //Simple PWM, Fault pin disabled
           break;
       case 1:
           OC2RS = calcDCycle(buf[0]);	OC2R = OC2RS; 
           OC2CONbits.OCM = 6; //Simple PWM, Fault pin disabled
           break;
       ...
       case 7:
           OC8RS = calcDCycle(buf[0]); OC8R = OC8RS; 
           OC8CONbits.OCM = 6; //Simple PWM, Fault pin disabled
           break;	
       default:
           return -1;
   }
   return 4;
}
 unsigned int calcDCycle(unsigned long value_ns){
   unsigned long long numerator = (unsigned long long)value_ns*SYSTEM_FREQ_MHZ;
   unsigned int index = T2CONbits.TCKPS;
   unsigned long denominator = (unsigned long)1000*pwm_prescale[index];
   return (unsigned int)(((long double)numerator/denominator) + 0.5) - 1; //rounding to nearest integer
 }

Propagration Delay

• PWM channels sharing the same timer will have their PWM signals synchronised (i.e. the HIGH state of the duty cycle are all triggered together).
• To introduced delay to the PWM signals, the signal from selected channels may be made to pass through a series of inverters (e.g. 74HC14D). This adds propagation delay to the signal.
• However, as propagration delay of logic gates depends on applied voltage, temperature and load capacitance, the accuracy is low and performance is poor. For accurate delay, delay lines may be used, but they are expensive.

Table 6.4 Propagation Delay of Philips 74HC14D^{[1], [2]}

	3.3V			5.0V
Number of Gates	A	B	C	A	B	C
2	21ns (10.5)	23ns (11.5)	22ns (11.0)	15ns (7.5)	14ns (7.0)	14ns (7.0)
4	45ns (11.3)	46ns (11.5)	46ns (11.5)	30ns (7.5)	30ns (7.5)	30ns (7.5)
6	69ns (11.5)	70ns (11.7)	72ns (12.0)	45ns (7.5)	46ns (7.7)	47ns (7.8)

[1] Data in specification for 4.5V: Typical 15ns, Maximum 25ns
[2] Data in specification for 6.0V: Typical 12ns, Maximum 21ns

DSP Library

---

• Library functions in <dsp.h> include the following categories:

1. Vector
2. Window
3. Matrix
4. Filtering
5. Transform
6. Control

Data Types

• Signed Fractional Value (1.15 data format)
  • Inputs and outputs of the dsp functions adopt 1.15 data format, which consumes 16 bits to represent values between -1 to 1-2^-15 inclusive.
  • Bit<15> is a signed bit, positive = 0, negative = 1.
  • Bit<14:0> are the exponent bits e.
  • Positive value = 1 - 2^-15*(32768 - e)
  • Negative value = 0 - 2^-15*(32768 - e)
• 40-bit Accumulator operations (9.31 data format)
  • The dsp functions use the 40 bits accumalators during arithmatic calculations.
  • Bit<39:31> are signed bits, positive = 0x000, negative = 0x1FF.
  • Bit<30:0> are exponent bits.
• IEEE Floating Point Values
  • Fractional values can be converted to Floating point values using: fo = Fract2Float(fr); for fr = [-1, 1-2^-15]
  • Floating point values can be converted to Fractional values using: fr = Float2Fract(fo); or fr = Q15(fo); for fo = [-1, 1-2^-15]
  • Float2Fract() is same as Q15(), except having saturation control. When +ve >= 1, answer = 2¹⁵-1 = 32767 (0x7FFF). When -ve < -1, answer = -2¹⁵ = -32767 (0x8000)

Overflow and Saturation Traps

• To be added.

Build-in Library

---

• Some assembler operators can only be accessed by inline assembly code, for example,

1. Manuipulation of accumulators A and B (add, sub, mul, divide, shift, clear, square)
2. Bit toggling
3. Access to psv (program space visiblity) page and offset
4. Access to table instruction page and offset

• Built-in functions are written as C-like function calls to utilize these assembler operators.

Bootloader Development

Concepts

• Programming with ICSP is useful when the target board is produced in batch. The producer can download a program even when the chip is on the target board.
• However, ICSP requires an external programmer.
• To allow the user to change the program after production but without the need of an external programmer, bootloader becomes useful.
• Bootloader is a small program installed via ICSP. Everytime the device is reset, the bootloader is run first. The bootloader first detects the default serial channel whether the user wishes to download a new program to the device. If so, the bootloader will pause there, and wait for the user to download the hex file from the PC. The hex file is written to the device via RTSP instructions in the bootloader. If a new download is not necessary, the bootloader redirects to the previously installed user's program.
• The disadvantage of bootloaders is that they consume some of the memory of the device.

Table 7.1 Free bootloaders for dsPIC

Developer	Source	Platform	User Guide	Remarks
ingenia	Assembly	Windows	pdf	Works for all dsPIC supporting RTSP Auto baudrate detection Use about 1.15% of the flash memory space (0xAFFF-0xAE00)/(0xAFFF-0x0100) Development of Linux platform is underway Modification of code for dsPIC30F5011 is successful
Tiny	Assembly	Windows	Web	By default, only supports 601X, 601X, 401X, 2010 Smaller code size than ingenia, but not as easy to modify
Elektronika	Hex	Windows	txt	Only works for dsPIC30F6014 serial port UART2 at baudrate 57600

dsPicBootloader

• The bootloader developed by ingenia is open source and it has been modified (see below) to suit our development using dsPic30f5011.
• The bootloader (hereafter called dsPicBootloader) employs the following settings:

1. Use U2ART channel
2. Use FRC, PLL16
3. For 5011, the bootloader is located between 0x00AE00 to 0x00AFFE (512bytes). Refer to C:\Program Files\Ingenia\ingeniadsPICbootloader\ibl_dspiclist.xml after installing the GUI interface.

• Changes made to assembly code includes:

1. including p30f5011.gld and p30f5011.inc

       .include "p30f5011.inc"

2. changing the config code of UART #0x8420 -> #0x8020

       ; Uart init
       mov #0x8020, W0           ; W0 = 0x8020 -> 1000 0000 0010 0000b
       mov W0, U2MODE            ; Enable UART, AutoBaud and 8N1
       clr U2STA

3. changing the start address 0xAE00 - 0x0100 = 0AD00

         .equ CRC, W4
         .equ ACK, 0x55
         .equ NACK, 0xFF
         .equ USER_ADDRESS, 0x0100
         .equ START_ADDRESS, 0xAD00                ; Relative to 0x0100

4. using Internal FRC and PLL16

       config __FOSC, CSW_FSCM_OFF & FRC_PLL16 ;Turn off clock switching and
                                          	;fail-safe clock monitoring and
                                           	;use the Internal Clock as the
                                          	;system clock

5. disabling MCLR (optional)

       config __FBORPOR, PBOR_ON & BORV_27 & PWRT_16 & MCLR_DIS
                                           ;Set Brown-out Reset voltage and
                                           ;and set Power-up Timer to 16msecs

6. changing all the related registers of U1ART to U2ART, all U1XXX => U2XXX

       U2MODE, U2STA, U2BRG, U2RXREG, U2TXREG

7. changing all the related registers of IC1 to IC2, all IC1XXX => IC2XXX

       IC2CON, #IC2IF, #IC2IE

dsPicProgrammer (Java-based Multi-Platformed)

• Ingenia developed a programmer (PC-side) that works only in Windows environment. The project for Linux environment is currently suspended.
• A simple programmer (hereafter called dsPicProgrammer) written in Java based on the library developed by RXTX has been developed here. The programmer supports both Linux and Windows environments, and may be used as a substitution for the official programmer developed by ingenia.
• The programmer has the following specification and limitations:

1. Use baud rate of 57600bps (Not selectable).
2. Only program dsPic30f5011 devices (Developers may change the source code for your devices).
3. Protection against overwriting bootloader codes on devices.
4. Dectection if application program does not have its reset() at address 0x100.

Special Consideration

• The bootloader assumes that the user program starts at address 0x100. This is usually the case, but there are always exceptions.
• To ensure that the user program always starts at address 0x100, you can create a customized linker script and customized reset() function as follows:

• Copy and modify the file named "crt0.s" from the directory "C:\Program Files\Microchip\MPLAB C30\src\pic30" to the project directory and include it.

   .section .reset, code      //previously .section .libc, code 

• Copy and modify the linkerscript for the device (e.g. p30f5011.gld) to the project directory and include it.

  .text __CODE_BASE :
  {
     *(.reset);              //<-insert this line here
     *(.handle);
     *(.libc) *(.libm) *(.libdsp);  /* keep together in this order */
     *(.lib*);
     *(.text);
  } >program

Downloads

Table 7.2 dsPicBootloader and dsPicProgrammer for dsPIC30f5011

Program	Site 1	Site 2	Remarks
dsPicBootloader	click	click	Under "dsPicBootloader/", download ingenia.s and compile yourself
dsPicProgrammer	click	click	Under "dsPicProgrammer/", dowload dsPicProgrammer.jar Alternatively, if you want to compile yourself or modify the source code, download COMDataHandler.java, COMPortManager.java, Pic5011Prog.java, Pic5011Protocol.java, and WriteBuffer.java under "dsPicProgrammer/" plus RdFileIntelHex.java under "IntelHexPaser/tags/0.02.00/". You should also install RXTX on your local machine as recommended in the readme file.

Communication Protocol

• Communication Protocol is reviewed in ingenia bootloader user's guide section 2.1.3. The following summarises the key steps on the PC side (Refer also to section 2.2.2).
• Transmission is conducted in 8N1, i.e. 8-bit, no parity, 1 stop-bit
• Stage 1: User's configuation
  • Select a baudrate
  • Select a COM port channel
• Stage 2: Autobaud rate detection and version control
  • Continuously sending a character "U" [0x55] via COM port
  • Continuously waiting for an acknowledgment character "U", [ACK] = [0x55]
  • Send command character [0x03]
  • Receive 3 characters 1) Major Version 2) Minor Version 3) Acknowledgment [0x55]
  • Prints the version number [Major.Minor] (e.g. 1.1) on screen.
• Stage 3: Loading and writing the program
  • Load the user hex file, check integrity.
  • Start loading file using:
    • Read command character [0x01] + 24-bit address [High][Medium][Low]
    • Receive 4-byte data [High][Medium][Low][ACK]
    • Write command character [0x02] + 24-bit address [High][Medium][Low]+ Number of bytes [N] + [data 0] + [data 1] + ... + [data N-1] + [CRC]=(INTEL HEX8 Checksum - Sum modulo 256)
    • Receive [ACK] or [NACK] = [0xFF]
    • Note: Writing is in row mode access (i.e. erase and write a whole row, each row has 32 instructions, or 96 bytes because each instruction has 24 bits)

1. Ensure the initial address of writing match an initial row position,
2. Send the data corresponding to the whole row.

USB-RS232 Bridge

• As USB ports are becoming more and more common, COM ports and Parallel ports may be redundant in the next few years. This section explore the possibilities of programming the target board through a USB port.
• There are two options:

1. Use an external USB/RS232 adaptor, the driver will emulate a virtual COM port, such as Prolific and FDTI. Ingenia has tested its bootloader with some USB-232 manufacturers (silabs, FTDI, etc..). However, the programming failed with our Prolific adapter. Application program may use JavaComm API (javax.comm) and/or RXTX to drive the COM port.
2. Modified the bootloader program on PC to support USB communication. e.g. using jUSB and JSR-80 (javax.usb). External circuits such as PIC18F4550 and MAX232 are required.

   |--User's App.--|-------Device Manager------|-------USB-RS232 Interface------|---dsPIC---|
  Option 1:
    +-------------+  +----------+  +----------+  +---+  +------------+  +-----+  +--------+
    | Application |--| JavaComm |--| Virtual  |==|USB|--|    FDTI    |--|RS232|==| Target |
    |   Program   |  |  RXTX    |  | COM Port |  +---+  | Circuitary |  +-----+  | Board  |
    +-------------+  +----------+  +----------+         +------------+           +--------+
  Option 2:
    +-------------+          +--------+          +---+  +------------+  +-----+  +--------+
    | Application |----------| JSR-80 |==========|USB|--| PIC18F4550 |--|RS232|==| Target |
    |   Program   |          |  jUSB  |          +---+  |   MAX232   |  +-----+  | Board  |
    +-------------+          +--------+                 +------------+           +--------+

• Currently, when RXTX is incorporated with JavaComm API, operating systems supported include Linux, Windows, Mac OS, Solaris and other operating systems. On the other hand, jUSB and JSR-80 only works for linux.

FDTI Chipset

• FT232RL communicates with PC via USB to provide 1 UART channel.
• Datasheet can be downloaded here.
  • Refer to Fig. 11 (Page 19) for Bus Powered Configuration.
  • Refer to Fig. 16 (Page 24) for for UART TTL-level Receive [RXD -> 1], Transmit [TXD -> 4], Transmit Enable [CBUS2/TXDEN -> 3]. Omit Receive Enable [CBUS3/PWREN#] and use [CBUS2/TXDEN -> 2]
  • Refer to Fig. 15 (Page 23) for LED Configuration: [CBUS0/TXLED#] and [CBUS1/RXLED#]
• Virtual COM Port Drivers can be downloaded here.

Programming the Device

Requirements

• Hardware

1. PC with COM port (Windows XP Installed for MPLAB)
2. ICD2 Programmer
3. Target Board
4. 5V Power Supply

• Software

1. MPLAB IDE v7.50 or higher
2. dsPicProgrammer (dsPicProgrammer.jar)
3. RXTX driver

• Files

1. dsPicBootloader (ingenia.hex). Original assembly code by ingenia can be downloaded from here.
2. Application hex file (e.g. app.hex)

Loading Bootloader (Once only)

Table 9.1 Loading Bootloader

Step	Remarks
Install MPLAB IDE	Do NOT connect ICD 2 (via USB) to PC Execute MPLAB vX.XX Install.exe
Install USB Driver	Follow the instruction in (C:\Program Files\Microchip\MPLAB IDE\ICD2\Drivers\Ddicd2.htm)
Select Target Chip	Run MPLAB IDE on PC Select: Configure>Select Devices... Choose dsPIC30F5011
Target <-> ICD 2	Use six pin cable. Beware of the pin assignments. Only pin 1 - 5 should be used. Place Jumper on target board (if any). The Jumper connects target Vcc to ICD 2. Do NOT power-up the target.
ICD 2 <-> PC	Plug-in ICD 2 to PC via USB cable Power-up the target. Select: Programmer>Select Programmer>MPLAB ICD 2 If this is the first time the ICD 2 is connected to PC, MPLAB IDE will automatically download the required OS to ICD 2, wait until it has finished If you have not connected and powered up the target, you might see Warnings on invalid device IDs, and/or running self tests. See results of self test if necessary: Programmer>Settings, Status Tab. Refer to ICD2 User's Guide Chapter 7.
Load Bootloader	Select: File>Import... Select ingenia.hex
Start Programming	Select: Programmer>Program
Finishing	Power-down the Taget Select: Programmer>Select Programmer>None Unplug USB cable

Loading Application

Table 9.2 Loading Application File

Step	Remarks
Install RXTX	For Windows User: copy RXTXcomm.jar to \jre\lib\ext (under java) copy rxtxSerial.dll to \jre\bin For Linux User: copy RXTXcomm.jar to /jre/lib/ext (under java) copy librxtxSerial.so to /jre/lib/[machine type] (i386 for instance)
Connect target board	For Windows User: connect to COM1 (or other useable port) For Linux User: connect to ttyS0 (or other useable port)
Open a console window	In Windows, Start>Run, and type cmd.
Start Programming	Change to the directory containing dsPicProgrammer.jar Execute dsPicProgrammer.jar For Windows User: java -jar dsPicProgrammer.jar COMi Y:\foo2\app.hex For Linux User: java -jar dsPicProgrammer.jar /dev/ttySi Y:/foo2/app.hex Power-up target board
Finishing	Power-down target board Disconnect from COM port

Remote Access

• At the moment, local devices (e.g. EEPROM, ADC, DAC, etc.) can only be accessed locally through POSIX functions such as open(), read(), write(), ioctl().
• However, a client may need to access these devices on a remote server. This section reviews the background and gives some ideas on its possible implementation.

Requirements

• A remote file access protocol, to transfer "files" (i.e. device's data) such as:

1. File Transfer Protocol (FTP): Required files are copied from sever to client for manipulation
2. Remote Shell (RSH): Required files are copied from sever to client for manipulation
3. Network File System (NFS): Required files are manipulated on sever

• An API to access files using a selected protocol, such as:

1. lam_rfposix: A POSIX-like remote file service for Local Area Multicomputer
2. API employed by VxWorks: VxWorks is a Unix-like real-time operating system, commonly used for embedded systems.

API Reference for VxWorks

• Reference:
  • VxWorks Official Website
  • OS Libraries API Reference
• Related Libraies
  • netDrv (netDrv.h): an API using FTP or RSH
  • nfsDrv (nfsDrv.h): an API using NFS

To Do List

1. Construct examples codes for using DSP library
2. Construct examples codes for using Build-in library
3. GUI Interface for Benchtop boards