DsPIC30F 5011 Development Board

Introduction

Features of dsPIC30F5011

• 2.5 to 5V
• Up to 30MIPs
• High current/sink source I/O pins: 25mA
• DSP Instruction Set
• Dual programming techniques: ICSP and RTSP
• UART: up to 2 modules
• I²C: up to 1Mbps
• 10-bit A/D, 1.1 Msps
• 12-bit A/D, 200 ksps
• 44K flash (66Kb), 4Kb RAM, 1Kb EEPROM
• No DAC
• Pin-to-pin compatible with other dsPICs

Table 1.1 Comparison with Compatible dsPICs

dsPic	Price US$	MIPs	Flash (kB)	RAM (kB)	EEPROM (kB)	I/O	ADC 12-bit	IC	OC	Motor Ctrl	Timers	QEI	UART	SPI	I2C	CAN	Codec
30F5011	5.91	30	66	4	1	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	1
30F6011A	7.73	30	132	6	2	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	0
30F6012A	7.85	30	144	8	4	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	1
33FJ128GP206	4.62	40	128	8	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	1	0	1
33FJ128GP306	4.81	40	128	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	0	1
33FJ128GP706	5.49	40	128	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	2	1
33FJ128MC506	4.97	40	128	8	0	53	16	8	8	8	9x16bit 4x32bit	1	2	2	2	1	0
33FJ128MC706	5.38	40	128	16	0	53	16	8	8	8	9x16bit 4x32bit	1	2	2	2	1	0
33FJ256GP506	6.11	40	256	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	1	1

Web Page

• Microchip Official Website

Forum

• Microchip: Official forum by Microchip
  • MPLAB ICD 2: Subforum on ICD 2 programmer
  • MPLAB IDE: Subforum on IDE
  • MPLAB C30 Compiler, ASM30, Link30 forum: Subforum on C compiler. Refer to MPLAB C30 C Compiler User's Guide Chapter 3
  • dsPIC30F Topics: Subformum on dsPIC30F
• GNUPIC: Discussion on PIC in Linux Systems
  • Debian
• HI-TECH Software Forum: Discussion on dsPICC, a C compiler developed by HI-TECH
• PICList: Discussion on older PIC systems (not dsPIC)
• PicKit: Discussion on PICkit/PICkit 2 programmers
• FreeRTOS Real Time Kernel: Open Discussion and Support on FreeRTOS

References

• dsPIC30F
  • dsPIC30F Family Reference Manual Sections: Contains detailed descriptions on dsPIC30F register definitions and example codes
  • dsPIC30F Family Reference Manual Errata (Use with revision 70046B only)
  • dsPIC30F5011, dsPIC30F5013 Data Sheet
  • dsPIC30F5011/5013 Rev. A1/A2 Silicon Errata
  • dsPIC30F5011/5013 Rev. A3 Silicon Errata
  • Flash Programming Specification
  • dsPIC30F Programmer's Reference Manual
  • dsPIC30F Programmer's Reference Manual Errata (use with revision DS70030E only)

• dsPIC33F
  • dsPIC33F Family Reference Manual Sections
  • dsPIC33F Family Data Sheet
  • dsPIC33F Rev. A2 Silicon Errata
  • dsPIC33FJXXXGPX06/X08/X10 Rev. A2 Silicon Errata
  • Flash Programming Specification
  • dsPIC30F to dsPIC33F Conversion Guidelines
• ICD2 Programmer
  • ICD2 User's Guide
• MPLAB
  • MPLAB IDE User's Guide
• C30 Compiler
  • MPLAB C30 C Compiler User's Guide: Contains commands for using pic30-elf-gcc
  • 16-bit Language Tools Libraries: Contains summaries and examples of using DSP libraries, standard C libraries and device libraries
  • MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide
  • dsPIC30F Language Tools Quick Reference Card

Code Examples

• Microchip Example Codes for dsPic

Programming Methods

• There are 2 programming methods: In-Circuit Serial Programming (ICSP) and Run-Time Self-Programming (RTSP)
• ICSP allows the devices to be programmed after being placed in a circuit board.
• RTSP allows the devices to be programmed when an embedded program is already in operation.

ICSP: External Programmer (ICD2)

• Two types of ICSP are available: ICSP and Enhanced ICSP. Both of them require setting MCLR# to V_IHH (9V – 13.25V).
• Standard ICSP
  • Use external programmer (e.g. MPLAB^® ICD 2, MPLAB^® PM3 or PRO MATE^® II) only.
  • Required low-level programming to erase, program and verify the chip.
  • Slower, because codes are serially executed.
  • Program memory can be erased using Normal-Voltage (4.5 – 5.5V) or Low-Voltage (2.5V – 4.5V).

• Enhanced ICSP
  • Use external programmer and Programming Executive (PE).
  • PE is stored in the on-chip memory.
  • PE allows faster programming.
  • PE can be downloaded to the chip by external programmer using the standard ICSP method.
  • PE contains a small command set to erase, program and verify the chip, avoiding the need of low-level programming.

Hardware Interface

Table 2.1 Pin Used by ICSP

Pin Label	Function	Pin Number
MCLR#	Programming Enable	7
VDD	Power Supply	10, 26, 38, 57
VSS	Ground	9, 25, 41, 56
PGC	Serial Clock	17
PGD	Serial Data	18

Table 2.2 Available Programmers in the Market

Product Name	Interface with PC	Interface with Device	Price (US)	Postage (US)	Total (US)
MPLAB® ICD 2	USB or RS232	6-PIN RJ-12 connector	$159.99	-	-
Full Speed USB Microchip ICD2 Debugger and Programmer	USB	6-PIN ICSP connector 6-PIN RJ-12 connector	$72.00	$12.00	$84.00
Mini Microchip Compatible ICD2 Debugger and Programmer	RS232	6-PIN ICSP connector 6-PIN RJ-12 connector	$45.00	$10.00	$55.00
ICDX30	RS232	6-pin RJ-11	$51.00	$47.46	$98.46
*Clone Microchip ICD2 (Now Using)	USB	6-pin flat cables	$30.00	$12.00	$42.00

Table 2.3 DIY ICD 2 Programmer Circuit

Source	Schematic	PIC16F877A Bootloader
Patrick Touzet	Yes	HEX
Nebadje	Yes	Zip

Software Interface

• The program can be written and compiled in an Integrated Development Environment (IDE) using either Assembly or C. The complied codes are then loaded to the device through the external programmer.

Table 2.4 Summary of IDE

Product Name	Features	OS	Price (US$)
MPLAB® IDE	Assembler Only	Windows	Free
MPLAB® C30	Assembler and C-Compiler	Windows	$895.00 (Free student version1)
Piklab 0.12.0	Assembler and C-Compiler	Linux	Free2

1. Full-featured for the first 60 days. After 60 days, some code optimization functions are disabled. The compiler will continue to function after 60 days, but code size may increase.
2. The current version supports external programmer ICD 2, but not yet tested.

RTSP: COM Port (Bootloader)

• RTSP works in normal voltage (MCLR# no need to raise to V_IHH).
• No literature has mentioned the incorporation of Programming Executive (PE). Presumably, since Enhanced ICSP needs to set MCLR# to V_IHH, RTSP cannot use PE.
• Refer to bootloader section.

IC Requirements

Table 3.1 IC Requirements

Part No.	Description	Min Temp	Max Temp	Min Volt	Max Volt	Typ Cur	Max Cur
dsPIC30F5011-30I/PT	uP	-40oC	85oC	2.5V [1]	5.5V	145mA	217mA
MAX3232ESE	RS232 driver	-40oC	85oC	3.0V	5.5V	0.3mA	1.0mA
DS3695N	RS485 driver	-40oC	85oC	4.75V	5.25V	42mA	60mA
DAC6574IDGS	10-bit Quad-DAC I2C	-40oC	105oC	2.7V	5.5V	0.6mA	0.9mA
74HC14D	Quad-Schmitt Trigger	-40oC	125oC	2.0V	6.0V		0.02mA
Overall		-40oC	85oC	4.75V	5.25V		<300mA [2]
dsPIC33FJ128GP306-I/PT	uP	-40oC	85oC	3.0V [1]	3.6V	74mA	250mA
ADM3485EARZ	RS485 driver	-40oC	85oC	3.0V	3.6V	1.1mA	2.2mA
24LC256-I/SN	256kBits I2C EEPROM	-40oC	85oC	2.5V	5.5V	400uA	3mA
LM3940IMP-3.3	5V-3.3V Regulator	-40oC	125oC	5.0V	7.5V	10mA	250mA

1. Minimum voltage measured is 3.3V (with 2 LEDs blinking) running at 30MHz.
2. Measured current at 5V is 180mA (with 2 LEDs blinking only)

Development Environment

Windows

• C-Compiler, Assembler and Linker are under GNU license.
  • MPLAB C30 C Compiler (*.c -> *.s)
  • MPLAB ASM30 Assembler (*.s -> *.o)
  • MPLAB LINK30 Linker (*.o -> *.bin)

• PA optimizer, simulator, runtime libraries, header files, include files, and linker scripts are not covered by GNU. Reference is here.

• Microchip has integrated ASM30, LINK30, assembly header files, linker scripts in MPLAB IDE, which is free for download.
• MPLAB C30 costs US$895. A 60-day free student version is also available. After 60-days, the optimizer is automatically disabled, while other tools can still function properly. Refer to Table 2.4.

• C-libraries contained in C30 includes (Refer to 16-Bit Language Tools Libraries from Microchip).

Table 4.1 C Libraries in MPLAB C30

Library	Directory (\\Microchip\MPLAB C30)	Major functions
DSP Library (e.g. libdsp-coff.a)	\lib \src\dsp \support\h	Vector, Matrix, Filter, etc.
16-Bit Peripheral Libraries (e.g. libp30F5011-coff.a)	\lib \src\peripheral \support\h	ADC12, IOPort, UART, I2C, etc.
Standard C Libraries (e.g. libc-coff.a, libm-coff.a, libpic-coff.a)	\lib \src\libm \include	stdio.h, time.h, float.h, math.h,
MPLAB C30 Built-in Functions	none	_buildin_addab, _buildin_add, _buildinmpy, etc

Linux

• C Compiler, Assembler and Linker are under GNU license.
  • The code can be downloaded from Microchip at here.
  • Current MPLAB ASM30 Assembler: v2.04
  • Current MPLAB C30 Compiler: v2.04

• John Steele Scott has made templates that can be readily used by Debian-based systems.
• For v1.32, the necessary conversion to *.deb has been done already at here.
  • Download pic30-1.32-debian.tar.bz2 for Template v1.32.
  • Download pic30-binutils_1.32-1_i386.deb for the assember.
  • Download pic30-gcc_1.32-1_i386.deb for the compiler.
• For v2.00
  • goto http://www.baycom.org/~tom/dspic/
  • download pic30-gcc-2.00-1.i386.rpm and pic30-binutils-2.00-1.i386.rpm
  • convert to deb files
  • install these two deb files
• For v3.01, convert the Toolchain following instructions at here
  • Pre-install these packages: dpkg-dev, debhelper, bison, flex, sysutils, gcc-3.3, fakeroot
    • cmd: sudo apt-get install dpkg-dev debhelper bison flex sysutils gcc-3.3 fakeroot
  • Download and unzip template: pic30-3.01.tar.bz2
  • Download assembler: mplabalc30v3_01_A.tar.gz. Save under /pic30-3.01/pic30-binutils-3.01/upstream/
  • Download c-compiler: mplabc30v3_01_A.tgz. Save under /pic30-3.01/pic30-gcc-3.01/upstream/
  • Install MPLAB_C30_v3_01-StudentEdition under Windows
  • Copy directories /include, /lib, /support, and /bin/c30_device.info to pic30-3.01/pic30-support-3.01/upstream/
  • Pack pic30-binutils into deb file
    • goto /pic30-3.01/pic30-binutils-3.01/
    • type cmd: dpkg-buildpackage -rfakeroot -b
  • Pack pic30-gcc-3.01 into deb file
    • goto /pic30-3.01/pic30-gcc-3.01/
    • type cmd: dpkg-buildpackage -rfakeroot -b
  • Pack pic30-gcc-3.01 into deb file
    • goto /pic30-3.01/pic30-support-3.01/
    • type cmd: dpkg-buildpackage -rfakeroot -b
  • install pic30-binutils_3.01-1_i386.deb
    • type cmd: sudo dpkg -i pic30-binutils_3.01-1_i386.deb
  • install pic30-gcc_3.01-1_i386.deb
    • type cmd: sudo dpkg -i pic30-gcc_3.01-1_i386.deb
  • install pic30-support_3.01-1_all.deb
    • type cmd: sudo dpkg -i pic30-support_3.01-1_all.deb
• Important Note: Only the compiler is free. The header files and library are owned by Microchip.
  • Thomas Sailer suggested to download the Student version of C30 compiler and then build the libraries without source code. A package template for Fedora system is available here.
  • Instructions for filling the upstream direction is available here.
  • Alteratively, Stephan Walter has started a project to develop C Runtime Library for dsPIC.
    • Current libraries in version 0.1.1 include: assert.h, cdefs.h, ctype.h, errno.h, inttypes.h, stdint.h, stdio.h, stdlib.h, string.h

• Burning Program Codes to Target Board

1. Use 'dspicprg and dspicdmp' utilities developed by Homer Reid to burn hex code (*.hex) to devices. See Reference here. Through serial port only?
2. Use Piklab IDE. Details on file format not known.
3. Use MPLAB IDE to burn hex code (*.hex) to devices.

Code Optimization

• Below is a comparsion between different optimization levels for the project including drivers for 2 projects.

Table 4.2 Comparison between differnt optimization levels

Optimization	Description	Project 1 Code Size (byte)	Project 1 Data Usage (byte)	Project 2 Code Size (byte)	Project 2 Data Usage (byte)
O0	No optimization Fastest Compilation	6222 (9%)	178 (4%)	26,037 (38%)	710 (17%)
O1	Optimize Tries to reduce code size and execution time.	4473 (6%)	178 (4%)	22,290 (32%)	710 (17%)
O2	Optimize even more Performs nearly all supported optimizations that do not involve a space-speed trade-off. Increases both compilation time and the performance of the generated code.	4422 (6%)	178 (4%)	21,993 (32%)	710 (17%)
O3	Optimize yet more. O3 turns on all optimizations specified by O2 and also turns on the inline-functions option.	4485 (6%)	178 (4%)	22,176 (32%)	710 (17%)
Os	Optimize for size. Os enables all O2 optimizations that do not typically increase code size. It also performs further optimizations designed to reduce code size.	4356 (6%)	178 (4%)	21,885 (32%)	710 (17%)

Software Architecture

               +--------+--------+--------+--------+--------+
 Application   | Task 1 | Task 2 | Task 3 | Task 4 | Task 5 |
               +--------+--------+--------+--------+--------+
               |                 POSIX API                  |
               +-------------------+------------------------+
    OS         |    Coroutine      |   FreeRTOS Scheduler   |
               +-------------------+------------------------+
               |                   Drivers                  |
               +------+-----+-----+--------+-------+--------+
  Hardware     | UART | ADC | DAC | EEPROM |  PWM  | TIMERS | 
               +------+-----+-----+--------+-------+--------+

• Currently, operating system is based on FreeRTOS incorporating coroutine developed by Simon Tatham
• Software Drivers are to be developed to allow users at Application Level to use the hardware (e.g. ADC, DAC, UART, EEPROM etc) through the OS.
• The interface between the drivers and the OS is based on POSIX standard (e.g. open(), write(), read(), ioctl(), usleep() etc).
• The most up-to-date development can be found at repository freertos_posix

Programming Tips

• Description on developing drivers with POSIX API

Bootloader Development

• Description on concepts and development on bootloader

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

• Description on how to use dsPicProgrammer

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

Conversion to dsPIC33F Devices

• This section discusses the conversion required from dsPIC30F5011 to dsPIC33FJ128GP306.
• Refer to official document dsPIC30F to dsPIC33F Conversion Guidelines (DS70172A).
• Note that this section does not mainly intend to introduce the new functionalities of dsPIC33F devices. It only serves the purpose to summarise the major (if not minimum) changes required to port the setup of dsPIC30 to dsPIC33 devices.

Hardware

• dsPIC33 operates at voltage of 3.3V. A voltage regulator, such as LM3940 can be used to convert 5V supply to 3.3V.
• A 1uF capacitor has to be placed at pin 56 (previously V_SS, now V_DDCORE).

Software

Configuration Bits

---

• dsPIC33 can operate at 40MIPs at maximum. To configure the device using internal FRC, replace the configuration bits setting as follows:

  _FOSCSEL(FNOSC_FRCPLL);  // FRC Oscillator with PLL
  _FOSC(FCKSM_CSDCMD & OSCIOFNC_ON  & POSCMD_NONE);  
                           // Clock Switching and Fail Safe Clock Monitor is disabled
                           // OSC2 Pin Function: OSC2(RC15) as Digital IO
                           // Primary Oscillator Mode: Disabled
  _FWDT(FWDTEN_OFF);       // Watchdog Timer Enabled/disabled by user software		

• Configure on-chip PLL at runtime as follows (at start of main function):

  _PLLDIV = 38;            // M=40: PLL Feedback Divisor bits
  CLKDIV = 0;              // N1=2: PLL VCO Output Divider Select bits
                           // N2=2: PLL Phase Detector Input Divider bits
  OSCTUN = 22;              // Tune FRC oscillator, if FRC is used; 
                            // 0: Center frequency (7.37 MHz nominal)
                            // 22: +8.25% (7.98 MHz)
  RCONbits.SWDTEN = 0;      // Disable Watch Dog Timer
  while(OSCCONbits.LOCK != 1);	// Wait for PLL to lock

UART

---

• No change is required.

I2C

---

• dsPIC33 supports upto 2 I²C devices. As a result, replace all I²C related registers with xxI2Cyy to xxI2C1yy. For examples:

  _SI2C1IF = 0; //Clear Slave interrupt
  _MI2C1IF = 0; //Clear Master interrupt
  _SI2C1IE = 0; //Disable Slave interrupt
  _MI2C1IE = 0; //Disable Master interrupt
  I2C1BRG = I2C_BRG; // Configure Baud rate
  I2C1CONbits.I2CEN = 1;
  ...
  etc.

ADC

---

• The ADC in dsPic33 is significantly different from that in dsPic30. Specifically, ADC in dsPic33 uses DMA to buffer the adc data. Replace the open, interrupt routine, add and remove codes as follows:

  unsigned int adc_bufA[ADC_MAX_CH] __attribute__((space(dma),aligned(256)));
  unsigned int adc_bufB[ADC_MAX_CH] __attribute__((space(dma),aligned(256)));
  unsigned int* ADC16Ptr;             //Pointer to ADC register buffer, 
  unsigned char adc_ch_select = 0;    //Pointer to channel to be read from
  unsigned char adc_data_ready = 0;   //Indicate if RAM data is ready for output
  unsigned int which_dma = 0;         //indicate which adc_buf to be used

  void adc_open(void)
  {
      // Configure interrupt
      _AD1IF = 0;              //clear ADC interrupt flag
      _AD1IE = 0;              //disable adc interrupt
      AD1CHSbits.CH0NA = 0;
      // Configure analog i/o  
      _TRISB0 = 1;
      _TRISB1 = 1;    
      AD1PCFG = 0xFFFC;        //Enable AN0 (Vref+) and AN1 (Vref-)
      AD1PCFGH = 0xFFFF;       //AN16-AN31: Disabled
      // Configure scan input channels    
      AD1CSSL = 0x0003;    //0 => Skip, 1 => Scan
      AD1CSSH = 0x0000;    //Skipping AN16-AN31
      // ADCCON4:
      AD1CON4bits.DMABL = 0;    // Each buffer contains 1 word
      // ADCCON3:
      AD1CON3bits.SAMC = 1; //1TAD for sampling time
      AD1CON3bits.ADRC = 0;            //Use system clock
      AD1CON3bits.ADCS = ADC_ADCS;     //each conversion requires 14TAD
      // ADCCON2:
      AD1CON2bits.VCFG = 3;    //External Vref+, Vref-
      AD1CON2bits.CSCNA = 1;   //Scan input
      AD1CON2bits.SMPI = 1;    //2 channels are scanned
      // ADCCON1:
      AD1CON1bits.FORM = 0;        //[0:integer]; [2 fractional]; [3 siged fractional]
      AD1CON1bits.SSRC = 7;        //auto covert, using internal clock source
      AD1CON1bits.ASAM = 1;        //auto setting of SAMP bit
      AD1CON1bits.AD12B = 1;       //12-bit, 1-channel ADC operation
      AD1CON1bits.ADDMABM = 0;     // DMA buffers are built in scatter/gather mode
      AD1CON1bits.ADON = 1;        // Turn on the A/D converter
      // DMA0 Configuration:
      DMA0CONbits.AMODE = 2;      // Configure DMA for Peripheral indirect mode
      DMA0CONbits.MODE  = 2;      // Configure DMA for Continuous Ping-Pong mode
      DMA0PAD=(int)&ADC1BUF0;     
      DMA0CNT = 1;                // generate dma interrupt every 2 samples 
                                  // same as SMPI because only 1 dma buffer per channel         
      DMA0REQ = 13;               // Select ADC1 as DMA Request source
      DMA0STA = __builtin_dmaoffset(adc_bufA);     
      DMA0STB = __builtin_dmaoffset(adc_bufB);
      _DMA0IF = 0;                // Clear the DMA interrupt flag bit
      _DMA0IE = 1;                // Set the DMA interrupt enable bit
      DMA0CONbits.CHEN=1;         // Enable DMA
  }

  void _ISR _DMA0Interrupt(void)
  {
      ADC16Ptr = (which_dma == 0)? adc_bufA : adc_bufB;   //Update pointer
      adc_data_ready = 1;
      which_dma ^= 1;                                     //Next buffer to be used
      _DMA0IF = 0;                                        //Clear the DMA0 Interrupt Flag
  }

  static void adcAdd(unsigned char ch){
      unsigned int mask;
      mask = 0x0001 << ch;
      TRISB = TRISB | mask;
      AD1CSSL = AD1CSSL | mask;      
      AD1PCFG = ~AD1CSSL;
      AD1CON2bits.SMPI++;  //take one more sample per interrupt
      DMA0CNT++; 
  }
  
  static void adcRm(unsigned char ch){
      unsigned int mask;
      mask = 0x0001 << ch;
      AD1PCFG = AD1PCFG | mask;
      AD1CSSL = ~AD1PCFG;
      AD1CON2bits.SMPI--;  //take one less sample per interrupt
     DMA0CNT--; 
  }

EEPROM

---

• There is no EEPROM in dsPIC33 devices. Please consider to use an external EEPROM using I²C communication.

Simple PWM

---

• No change is required.

Memory Map for dsPIC33FJ128GP306

Table 11.1 Memory Location

Type	Start Address	End Address	Size
Flash	0x000000	0x0157FF	86K[1]
+--Flash: Reset Vector	0x000000	0x000003	4
+--Flash: Interrupt Vector Table	0x000004	0x0000FF	252
+--Flash: Alternate Vector Table	0x000104	0x0001FF	252
+--Flash: User Program	0x000200	0x0157FF	85.5K
Programming Executive	0x800000	0x800FFF	4K[1]
Config Registers	0xF80000	0xF80017	24
Device ID (0xE5)	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.

Custom Linker Script to Maximize Space for Constant Data

• Constant data declared using keyword const will be stored in the .const section in the flash memory.
• Normally, during compilation, the linker will assign these data after the program code (.text section).
• Since .const is accessed by auto-psv function, to maximize the space for constant data (32kb), the .const section needs to be aligned at 0x80000 boundary.
• This requires the following change in linker script:

 __CONST_BASE = 0x8000;
 
 .text __CODE_BASE :
 {
 	*(.reset);
       *(.handle);
       *(.libc) *(.libm) *(.libdsp);  /* keep together in this order */
       *(.lib*);
       /* *(.text);		deleted to maximize space for const data */
 } >program
 
 .const __CONST_BASE :
 {
 	*(.const);
 } >program

• If your program is large, after this change in linker script, function calls may involve large jump in the memory map (>32kB). As a result, you may need to enable the large code and large memory model during compilation. In such case, use the following options in your build path:

   -mlarge-code -mlarge-data

• Meanwhile, functions that are defined in the standard C libraries, but are replaced with your own implementations (e.g. I/O stubs: open(), read(), write(), lseek(), ioctl() etc.) may have the following linker error:

   /usr/pic30-elf/lib//libc-elf.a(fflush.eo)(.libc+0x3c): In function '.LM11':
   : Link Error: relocation truncated to fit: PC RELATIVE BRANCH _write
   /usr/pic30-elf/lib//libc-elf.a(fclose.eo)(.libc+0x42): In function '.LM18':
   : Link Error: relocation truncated to fit: PC RELATIVE BRANCH _close 

• To resolve the problem, you need to place the functions in the .libc section rather than in the .text section, like this:

   #define LIBC_CODE_LOC __attribute__ ( (section(".libc")))
   
   int LIBC_CODE_LOC open(const char *pathname, int flags){ ... }
   int LIBC_CODE_LOC close(int fd){ ... }
   int LIBC_CODE_LOC write(int fd, void* buf, int count) { ... }
   int LIBC_CODE_LOC read(int fd, void* buf, int count) { ... }
   int LIBC_CODE_LOC ioctl(int fd, int request, void* argp) { ... }
   int LIBC_CODE_LOC lseek(int fd, int offset, int whence) { ... }

dsPicBootloader and dsPicProgrammer

• RTSP for dsPIC33F is different from dsPIC30F.
  • Row size changes from 32 instructions (96bytes) to 64 instructions (192 bytes)
  • Erase operation changes from 1 row to 8 rows
  • No EEPROM
• With regards to the above changes, dsPicBootloader and dsPicProgrammer has been modified. In particular, dsPicProgrammer can be used to program both dsPic30F and dsPic33F devices (Yet, dsPic33F is no longer compatible with Ingenia's programmer). You can easily add your devices to the source code.

Downloads

Table 12.1 Related software download links for dsPicBootloader and dsPicProgrammer

Program	Site 1	Site 2	Remarks
JDK	website		Download latest JDK
RXTX	website		Download rxtx-2.1-7-bins-r2.zip or later
dsPicBootloader	click	click (v1.3)	Under "dsPicBootloader/", download bl_5011.s or bl_j128gp306.s
dsPicProgrammer	click	click (v1.3.5)	Under "dsPicProgrammer/", dowload dsPicProgrammer.jar Alternatively, if you want to compile yourself or modify the source code, download all source files 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.
Ingenia's bootloader	website		Download original ingenia's bootloader

ToDo

• dspic gcc compiler for constant problem
• add chip to stable voltage upon power failure or to detect low voltage, and generate interrupt for dsPic to execute shutdown routine (e.g. save important data to NVM, shutdown ethernet etc.)
• program the bootloader into flash under linux platform