Dspic30f 5011 Development Board - Open Circuits

DsPIC30F 5011 Development Board - Open Circuits

http://www.opencircuits.com/DsPIC30F_5011_Development_Board

DsPIC30F 5011 Development Board From Open Circuits

Contents 1 Introduction 1.1 Features of dsPIC30F5011 1.2 Web Page 1.3 Forum 1.4 References 2 Programming Methods 2.1 ICSP: External Programmer (ICD2) 2.1.1 Hardware Interface 2.1.2 Software Interface 2.2 RTSP: COM Port (Bootloader) 3 IC Requirements 4 Development Environment 4.1 Windows 4.2 Linux 4.3 Code Optimization 5 Software Architecture 6 Programming Tips 6.1 Memory Map for 5011 6.2 Data Location 6.3 Configuration Bits 6.4 Timer 6.4.1 Free Time Clock 6.4.2 Time Measurement 6.5 Interrupt 6.6 UART 6.6.1 Auto baud rate detection 6.6.2 Initialize UART 6.6.3 Sending and Receiving Data 6.7 I2C 6.8 ADC 6.8.1 Configuration 6.8.2 Storing ADC Data 6.8.3 Adding and Removing Channels 6.9 EEPROM 6.9.1 Seek 6.9.2 Read 6.9.3 Write 6.10 Simple PWM (Output Compare Module) 6.10.1 open() 6.10.2 ioctl() 6.10.3 write() 6.10.4 Propagration Delay 6.11 DSP Library 6.11.1 Data Types

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DsPIC30F 5011 Development Board - Open Circuits

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6.11.2 Overflow and Saturation Traps 6.12 Build-in Library 7 Bootloader Development 7.1 Concepts 7.2 dsPicBootloader 7.3 dsPicProgrammer (Java-based Multi-Platformed) 7.4 Special Consideration 7.5 Downloads 7.6 Communication Protocol 8 USB-RS232 Bridge 8.1 FDTI Chipset 9 Programming the Device 9.1 Requirements 9.2 Loading Bootloader (Once only) 9.3 Loading Application 10 Remote Access 10.1 Requirements 10.2 API Reference for VxWorks 11 Conversion to dsPIC33F Devices (Not Tested) 11.1 Hardware 11.2 Software 11.2.1 Configuration Bits 11.2.2 UART 11.2.3 I2C 11.2.4 ADC 11.2.5 EEPROM 11.2.6 Simple PWM 11.3 Memory Map for dsPIC33FJ128GP306 11.4 dsPicBootloader 11.5 dsPicProgrammer 12 To Do List

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

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Price Flash RAM EEPROM ADC Motor MIPs I/O IC OC Timers QEI UART US$ (kB) (kB) (kB) 12-bit Ctrl

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DsPIC30F 5011 Development Board - Open Circuits

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30F5011

5.91

30

66

4

1

52

16

8

8

0

5x16bit 0 2x32bit

2

30F6011A

7.73

30

132

6

2

52

16

8

8

0

5x16bit 0 2x32bit

2

30F6012A

7.85

30

144

8

4

52

16

8

8

0

5x16bit 0 2x32bit

2

33FJ128GP206 4.62

40

128

8

0

53

18

8

8

0

9x16bit 0 4x32bit

2

33FJ128GP306 4.81

40

128

16

0

53

18

8

8

0

9x16bit 0 4x32bit

2

33FJ128GP706 5.49

40

128

16

0

53

18

8

8

0

9x16bit 0 4x32bit

2

33FJ128MC506 4.97

40

128

8

0

53

16

8

8

8

9x16bit 1 4x32bit

2

33FJ128MC706 5.38

40

128

16

0

53

16

8

8

8

9x16bit 1 4x32bit

2

33FJ256GP506 6.11

40

256

16

0

53

18

8

8

0

9x16bit 0 4x32bit

2

Web Page Microchip Official Website (http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2529¶m=en024856

Forum Microchip (http://direct.forum.microchip.com/default.aspx) : Official forum by Microchip MPLAB ICD 2 (http://direct.forum.microchip.com/tt.aspx?forumid=49) : Subforum on ICD 2 programmer MPLAB IDE (http://direct.forum.microchip.com/tt.aspx?forumid=57) : Subforum on IDE MPLAB C30 Compiler, ASM30, Link30 forum (http://direct.forum.microchip.com/tt.aspx?forumid=101) : Subforum on C compiler. Refer to MPLAB C30 C Compiler User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/C30_Users_Guide_51284e.pdf) Chapter 3 dsPIC30F Topics (http://direct.forum.microchip.com/tt.aspx?forumid=153) : Subformum on dsPIC30F GNUPIC (http://www.gnupic.org/) : Discussion on PIC in Linux Systems Debian (http://www.linuxhacker.org/cgi-bin/ezmlm-cgi?1:dds:5443#b) HI-TECH Software Forum (http://www.htsoft.com/forum/all/ubbthreads.php/Cat/0/C/6) : Discussion on dsPICC, a C compiler developed by HI-TECH PICList (http://piclist.com/techref/piclist/index.htm) : Discussion on older PIC systems (not dsPIC) PicKit (http://groups.google.com/group/pickit-devel) : Discussion on PICkit/PICkit 2 programmers FreeRTOS Real Time Kernel (http://sourceforge.net/forum/forum.php?forum_id=382005) : Open Discussion and Support on FreeRTOS

References dsPIC30F Family Overview (http://ww1.microchip.com/downloads/en/DeviceDoc/70043F.pdf) Family Reference Manual (http://ww1.microchip.com/downloads/en/DeviceDoc/70046E.pdf) : 3 от 34

05.3.2007 г. 14:43

DsPIC30F 5011 Development Board - Open Circuits

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Contains detailed descriptions on dsPIC30F register definitions and example codes 5011 Data Sheet (http://ww1.microchip.com/downloads/en/DeviceDoc/70116F.pdf) Flash Programming Specification (http://ww1.microchip.com/downloads/en/DeviceDoc/70102G.pdf) Programmer Reference Manual (http://ww1.microchip.com/downloads/en/DeviceDoc/70157B.pdf) dsPIC33F Product Overview (http://ww1.microchip.com/downloads/en/DeviceDoc/70155c.pdf) Family Data Sheet (http://ww1.microchip.com/downloads/en/DeviceDoc/70165E.pdf) Flash Programming Specification (http://ww1.microchip.com/downloads/en/DeviceDoc/70152C.pdf) dsPIC30F to dsPIC33F Conversion Guidelines (http://ww1.microchip.com/downloads/en/DeviceDoc/70172A.pdf) ICD2 Programmer ICD2 User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/51331B.pdf) MPLAB MPLAB IDE User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/51519B.pdf) C30 Compiler MPLAB C30 C Compiler User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/C30_Users_Guide_51284e.pdf) : Contains commands for using pic30-elf-gcc 16-bit Language Tools Libraries (http://ww1.microchip.com/downloads/en/DeviceDoc/16bit_Language_Tool_Libraries_51456c.pdf) : Contains summaries and examples of using DSP libraries, standard C libraries and device libraries MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/Asm30_Link_Util_51317e.pdf) dsPIC30F Language Tools Quick Reference Card (http://ww1.microchip.com/downloads/en/DeviceDoc/51322d.pdf)

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 VIHH (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

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DsPIC30F 5011 Development Board - Open Circuits

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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

Product Name

MPLAB® ICD 2 (http://direct.www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en010046&par Full Speed USB Microchip ICD2 Debugger and Programmer (http://www.etekronics.com/product_info.php?cPath=24&products_id=48) Mini Microchip Compatible ICD2 Debugger and Programmer (http://www.etekronics.com/product_info.php?cPath=24&products_id=47) ICDX30 (http://www.inexglobal.com/microcontroller.php) Clone Microchip ICD2 (http://www.sure-electronics.net/englishsite/icd2/icd2.htm)

Table 2.3 DIY ICD 2 Programmer Source

Schematic

Patrick Touzet Yes (http://membres.lycos.fr/silicium31/Electronique/PIC/FreeIcdEnglish.htm) (http://membres.lycos.fr/silicium31/Electroniqu Nebadje (http://www.nebadje.org/doku.php?id=neblab:icd2clone)

Yes (http://people.ee.ethz.ch/~jbiveron/nebadje/

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.

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DsPIC30F 5011 Development Board - Open Circuits

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Table 2.4 Summary of IDE Product Name

MPLAB® IDE (http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en019469&part=SW0

MPLAB® C30 (http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en010065&part=SW0

Piklab 0.12.0 (http://linux.softpedia.com/get/Science-and-Engineering/Electronic-Design-Automation-EDA-/Piklab-8099.sh

1. Full-featured for the first 60 days. After 60 days only optimization level 1 can be enabled in the compiler. 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 VIHH). No literature has mentioned the incorporation of Programming Executive (PE). Presumably, since Enhanced ICSP needs to set MCLR# to VIHH, RTSP cannot use PE. Refer to bootloader section.

IC Requirements Table 3.1 IC Requirements Part No. dsPIC30F5011-30I/PT (http://ww1.microchip.com/downloads/en/DeviceDoc/70116F.pdf)

Description uP

Min Max Temp Temp -40oC 85o

MAX3232ESE (http://datasheets.maxim-ic.com/en/ds/MAX3222-MAX3241.pdf) RS232 driver -40oC 85o DS3695N (http://www.national.com/ds.cgi/DS/DS3695.pdf)

RS485 driver -40oC 85o

DAC6574DGS (http://focus.ti.com/lit/ds/symlink/dac6574.pdf)

10-bit Quad-DAC I2C

-40oC 105

74HC14D Quad-Schmitt -40oC 125 (http://www.semiconductors.philips.com/acrobat/datasheets/74HC_HCT14_3.pdf) Trigger -40oC 85o

Overall

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dsPIC33FJ128GP306 (http://ww1.microchip.com/downloads/en/DeviceDoc/70165E.pdf)

uP

ADM3485EARZ (http://www.analog.com/UploadedFiles/Data_Sheets/ADM3485E.pdf)

RS485 driver -40oC 85o

-40oC 85o

05.3.2007 г. 14:43

DsPIC30F 5011 Development Board - Open Circuits

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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 (http://direct.forum.microchip.com/tm.aspx?m=107208) . 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 (http://ww1.microchip.com/downloads/en/DeviceDoc/16bit_Language_Tool_Libraries_51456c.pdf) from Microchip).

Table 4.1 C Libraries in MPLAB C30 Library

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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.

05.3.2007 г. 14:43

DsPIC30F 5011 Development Board - Open Circuits

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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 (http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en023073 . Current MPLAB ASM30 Assembler: v2.04 Current MPLAB C30 Compiler: v2.04 John Steele Scott (http://gcc.gnu.org/ml/gcc/2005-02/msg01144.html) has made templates that can be readily used by Debian-based systems. Someone at http://noel.feld.cvut.cz/dspic/ has done the necessary conversion to *.deb already. Download pic30-1.32-debian.tar.bz2 for Template v1.32. (For v2.01, please goto pic30-debian-2.01.tar.bz2 (http://thread.gmane.org/gmane.comp.hardware.microcontrollers.gnupic/3768/focus=3768) ). Download pic30-binutils_1.32-1_i386.deb for the assember. Download pic30-gcc_1.32-1_i386.deb for the compiler. Important Note: Only the compiler is free. The header files and library is 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 (http://www.baycom.org/~tom/dspic/) . Instructions for filling the upstream direction is available here (http://forum.microchip.com/printable.aspx?m=139360) . Alteratively, Stephan Walter (https://gna.org/projects/pic30-libc/) 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 (http://homerreid.ath.cx/misc/dspicprg/) to burn hex code (*.hex) to devices. See Reference here (http://forum.microchip.com/tm.aspx?m=94243) . Through serial port only?

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DsPIC30F 5011 Development Board - Open Circuits

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2. Use Piklab IDE (http://piklab.sourceforge.net/) . Details on file format not known. 3. Use MPLAB IDE (http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en019469&part= to burn hex code (*.hex) to devices.

Code Optimization Code Optimization under GNU license supports O0 and O1 only. MPLAB C-Compiler supports O0, O1, O2, Os and O3. The Student version will disable O2, Os, and O3 after 60 days. 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

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DsPIC30F 5011 Development Board - Open Circuits

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+----------+-----------+---------+---------+ | local | remote | | | +----------+-----------+ host | UI | | data access | channel | | | (DI,DO,AI,AO) | | | +----------------------+---------+---------+ | Application | | | +------------------------------------------+ | Applications Model | | +--------------+-----------+ | | | GUI | CLib | | | | +------+-----------+-------+ | | | Operating System | +-------+-------+--------------------------+ | Drivers | +------------------------------------------+ | Hardware | +------------------------------------------+

Currently, operating system is based on linlike8 (http://www.psocdeveloper.com/forums/viewtopic.php?p=973&sid=717d6b7e86472a5036f7cfbbcb0c05aa . The possibility of using other OS (e.g. FreeRTOS (http://www.freertos.org/) ) will be explored later. Software Drivers are to be developed to allow users at Application Level to use the hardware (e.g. ADC, DAC, UART, EEPROM) through the OS. The interface between the drivers and the OS should be compliant with POSIX standard (http://www.die.net/doc/linux/man/man2/) for Linux (e.g. open(), write(), read(), ioctl() etc).

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

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Table 6.2 Data Location Type

Description

Example

_XBSS(N) [1]

RAM Data in X-memory, aligned int _XBSS(32) xbuf[16]; at N, no initilization

_XDATA(N) [1]

RAM Data in X-memory, aligned int _XDATA(32) xbuf[] = {1, 2, 3, 4, at N, with initilization 5};

_YBSS(N) [1]

RAM Data in Y-memory, aligned int _YBSS(32) ybuf[16]; at N, no initilization

_YDATA(N) [1]

RAM Data in Y-memory, aligned int _YDATA(32) ybuf[16] = {1, 2, 3, at N, with initilization 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. 2. 3. 4.

Primary oscillator (OSC1, OSC2) Secondary oscillator (SOSCO and SOSCI) with 32kHz crystal Internal Fast RC (FRC) oscillator at 7.37MHz (7372800Hz) 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 FOSC The system clock is divided by 4 to yield the internal instruction cycle clock, FCY=FOSC/4 FRC with PLLx16 is used to achieve FCY=29.49MHz (29491200Hz or 30MIPS)

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DsPIC30F 5011 Development Board - Open Circuits

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//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*FCY 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:

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1. 2. 3. 4. 5. 6.

http://www.opencircuits.com/DsPIC30F_5011_Development_Board

Interrupt Flag Status (IFS0-IFS2) registers Interrupt Enable Control (IEC0-IEC2) registers Interrupt Priority Control (IPC0-IPC10) registers Interrupt Priority Level (IPL) register Global Interrupt Control (INTCON1, INTCON2) registers 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 :

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 (http://www.opencircuits.com/DsPIC30F_5011_Development_Board) . 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|_ <---------------> Measured Time

(S = Start Bit)

The relationship between uxbrg and TMR is

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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

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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:

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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; _ADIE = 1;

//clear ADC interrupt flag //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; _TRISB8 = 1; _TRISB9 = 1; _TRISB10 = 1; _TRISB11 = 1; ADPCFG = 0xF0FB;

//Set AN2 [Case Temp] as analog input //Set AN8 [Power detect 0] as analog input //Set AN9 [Power detect 1] as analog input //Set AN10 [Current detect 0] as analog input //Set AN11 [Temp detect 0] as analog input //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 VREF-. 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: 16 от 34

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

ADCON3bits.SAMC = 1; ADCON3bits.ADRC = 1; ADCON3bits.ADCS = 19;

//1TAD for sampling time //Use internal ADC clock //Set TAD = 334ns

Settings for ADC Operation: For 200kbps operation, the voltage references for the ADC voltage are connected to VREF+ and VREF-. Scan input is enabled, and the module will generate an interrupt when all selected channels have been scanned. ADCON2bits.VCFG = 3; ADCON2bits.CSCNA = 1; ADCON2bits.SMPI = 4;

//External Vref+, Vref//Scan input //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 ADCON1bits.FORM ADCON1bits.SSRC ADCON1bits.ASAM

= = = =

1; 0; 7; 1;

//Turn on module //[2 fractional]; [3 siged fractional] //auto covert, using internal clock source //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
Adding and Removing Channels Channels may be added or removed by changing _TRISBX, ADPCFG, ADCSSL and ADCON2bits.SMPI.

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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
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readEEByte() is implemented in assembly code as follows: .global _readEEByte _readEEByte: push TBLPAG mov w0, TBLPAG tblrdl.b [w1], [w2] pop TBLPAG return

;w0 = base of eeData ;w1 = offset for eeData in byte ;w2 = pointer to user buffer

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 rel="nofollow">>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.

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.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 fPWM 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

20 от 34

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

05.3.2007 г. 14:43

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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:

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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 } switch(pwm_channel){ case 0: OC1RS = calcDCycle(buf[0]); OC1R = OC1RS; OC1CONbits.OCM = 6; //Simple PWM, Fault pin break; case 1: OC2RS = calcDCycle(buf[0]); OC2R = OC2RS; OC2CONbits.OCM = 6; //Simple PWM, Fault pin break; ... case 7: OC8RS = calcDCycle(buf[0]); OC8R = OC8RS; OC8CONbits.OCM = 6; //Simple PWM, Fault pin break; default: return -1; } return 4;

enabled

disabled

disabled

disabled

} 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

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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 (http://www.nxp.com/acrobat_download/datasheets/74HC_HCT14_3.pdf) [1], [2] 3.3V Number of Gates

A

5.0V 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 include the following categories: 1. 2. 3. 4. 5. 6.

Vector Window Matrix Filtering Transform 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)

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Overflow and Saturation Traps To be added.

Build-in Library Some assembler operators can only be accessed by inline assembly code, for example, 1. 2. 3. 4.

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

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Developer ingenia (http://www.ingenia-cat.com/index.php?lang=en)

Source Assembly (http://www.ingenia-cat.com/download/iBL.s

Tiny Assembly (http://www.etc.ugal.ro/cchiculita/software/picbootloader.htm) (http://www.etc.ugal.ro/cchiculita/software/tinybld191.zip

Elektronika (http://www.via.si/software/dsPIC_bootloader/)

Hex (http://www.via.si/software/dsPIC_bootloader/data/

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 (http://www.ingenia-cat.com/download/iBL.s) 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 mov W0, U2MODE clr U2STA

; W0 = 0x8020 -> 1000 0000 0010 0000b ; Enable UART, AutoBaud and 8N1

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

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.equ .equ .equ .equ .equ

CRC, W4 ACK, 0x55 NACK, 0xFF USER_ADDRESS, 0x0100 START_ADDRESS, 0xAD00

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; 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 (http://www.rxtx.org/) 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. 2. 3. 4.

Use baud rate of 57600bps (Not selectable). Only program dsPic30f5011 devices (Developers may change the source code for your devices). Protection against overwriting bootloader codes on devices. 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

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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 dsPicBootloader

Site 1

Site 2

click click (http://chungyan5.no-ip.org/websvn/listing.php) (http://www.opencircuits.com/images/e/ed/DsPicBootl

click dsPicProgrammer click (http://chungyan5.no-ip.org/websvn/listing.php) (http://www.opencircuits.com/images/1/13/DsPicProgr

Communication Protocol Communication Protocol is reviewed in ingenia bootloader user's guide (http://www.ingenia-cat.com/reference/pdf/iBL.UG.V1.2.pdf) 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

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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 (http://www.prolific.com.tw/eng/downloads.asp?ID=31) and FDTI (http://www.ftdichip.com/Drivers/VCP.htm) . 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 (http://java.sun.com/products/javacomm/) (javax.comm) and/or RXTX (http://www.rxtx.org/) to drive the COM port. 2. Modified the bootloader program on PC to support USB communication. e.g. using jUSB (http://jusb.sourceforge.net/) and JSR-80 (http://javax-usb.org/) (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 (http://www.ftdichip.com/Documents/DataSheets/DS_FT232R.pdf) . 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#] 28 от 34

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Virtual COM Port Drivers can be downloaded here (http://www.ftdichip.com/Drivers/VCP.htm) .

Programming the Device Requirements Hardware 1. 2. 3. 4.

PC with COM port (Windows XP Installed for MPLAB) ICD2 Programmer Target Board 5V Power Supply Software

1. MPLAB IDE v7.50 or higher (http://ww1.microchip.com/downloads/en/DeviceDoc/MP750.zip) 2. dsPicProgrammer (http://chungyan5.no-ip.org/websvn/listing.php) (dsPicProgrammer.jar) 3. RXTX driver (http://users.frii.com/jarvi/rxtx/download.html) Files 1. dsPicBootloader (http://chungyan5.no-ip.org/websvn/listing.php) (ingenia.hex). Original assembly code by ingenia can be downloaded from here (http://www.ingenia-cat.com/download/iBL.s) . 2. Application hex file (e.g. app.hex)

Loading Bootloader (Once only)

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Table 9.1 Loading Bootloader Step Install MPLAB IDE (http://ww1.microchip.com/downloads/en/DeviceDoc/MP750.zip)

Remarks 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\Microc 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. O should be used. Place Jumper on target board (if any). The Jumper 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 If this is the first time the ICD 2 is connected to PC will automatically download the required OS to IC it has finished If you have not connected and powered up the targ see Warnings on invalid device IDs, and/or running See results of self test if necessary: Programmer>S Tab. Refer to ICD2 User's Guide (http://ww1.microchip.com/downloads/en/DeviceD 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

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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 (http://en.wikipedia.org/wiki/FTP) (FTP): Required files are copied from sever to client for manipulation 2. Remote Shell (http://en.wikipedia.org/wiki/Remote_Shell) (RSH): Required files are copied from sever to client for manipulation 3. Network File System (http://en.wikipedia.org/wiki/Network_File_System_%28Sun%29) (NFS): Required files are manipulated on sever

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An API to access files using a selected protocol, such as: 1. lam_rfposix (http://www.die.net/doc/linux/man/man2/lam_rfposix.2.html) : A POSIX-like remote file service for Local Area Multicomputer 2. API employed by VxWorks: VxWorks (http://en.wikipedia.org/wiki/VxWorks) is a Unix-like real-time operating system, commonly used for embedded systems.

API Reference for VxWorks Reference: VxWorks Official Website (http://www.windriver.com/vxworks/) OS Libraries API Reference (http://www-cdfonline.fnal.gov/daq/commercial/) Related Libraies netDrv (netDrv.h): an API using FTP or RSH nfsDrv (nfsDrv.h): an API using NFS

Conversion to dsPIC33F Devices (Not Tested) This section discusses the conversion required from dsPIC30F5011 to dsPIC33FJ128GP306. Refer to official document dsPIC30F to dsPIC33F Conversion Guidelines (http://ww1.microchip.com/downloads/en/DeviceDoc/70172A.pdf) (DS70172A). Note that this section does not 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 (http://www.national.com/ds.cgi/LM/LM3940.pdf) can be used to convert 5V supply to 3.3V. A 1uF capacitor has to be placed at pin 56 (previously VSS, now VDDCORE).

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_OFF & POSCMD_NONE); // Clock Switching and Fail Safe Clock Monitor is disabled // OSC2 Pin Function: OSC2 is Clock Output // 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):

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_PLLDIV = 38; _PLLPOST1 = 0; _PLLPOST0 _PLLPRE4 = 0; _PLLPRE3 = _PLLPRE2 = 0; _PLLPRE1 = OSCTUN = 0;

// M=40: PLL Feedback Divisor bits = 0; // N1=2: PLL VCO Output Divider Select bits 0; // N2=2: PLL Phase Detector Input Divider bits 0; _PLLPRE0 = 0; // 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

There are upto 2 configurations of the ADC module. Replace all ADC-related registers ADxxx to AD1xxx. For examples: volatile unsigned int* ADC16Ptr = &ADC1BUF0; AD1CHS0bits.CH0NA = 0; AD1CON3bits.SAMC = 1; //1TAD for sampling time AD1CON2bits.VCFG = 3; //External Vref+, VrefAD1CON1bits.ADON = 1; //Turn on module ... etc.

Set ADC to use 12-bit modes: AD1CON1bits.AD12B = 1; //12-bit, 1-channel ADC operation

dsPIC33 have upto 32 ADC channels. The configurations for each channel is therefore splited into 2 registers (High controls channels 16-31; Low controls channels 0-15). //=========================================================================== // Configure analog i/o _TRISB0 = 1; _TRISB1 = 1; AD1PCFGL = 0xFFFC; //AN0-AN15: Enable AN0 (Vref+) and AN1 (Vref-) AD1PCFGH = 0xFFFF; //AN16-AN31: Disabled //=========================================================================== // Configure scan input channels AD1CSSL = 0x0003; //AN0-AN15: 0 => Skip, 1 => Scan AD1CSSH = 0x0000; //Skipping AN16-AN31

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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 (0xCF)

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.

dsPicBootloader dsPicProgrammer

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 Retrieved from "http://www.opencircuits.com/DsPIC30F_5011_Development_Board" This page was last modified 03:55, 5 March 2007. Content is available under Attribution-ShareAlike 2.5.

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