![13
Through clever use of comments, symbols, labels and other elements supported by BASIC,
program can be rendered considerably clearer and more understandable, offering programmer
a great deal of help.
Also, it is advisable to divide larger programs into separate logical entities (such as routines
and modules, see below) which can be addressed when needed. This also increases
reusability of code.
Names of routines and labels indicating a program segment should make some obvious sense.
For example, program segment that swaps values of 2 variables, could be named "Swap", etc.
2.1 Identifiers
Identifiers are names used for referencing the stored values, such as variables and constants.
Every program, module, procedure, and function must be identified (hence the term) by an
identifier.
Valid identifier:
1. Must beginwitha letterof Englishalphabetorpossiblythe underscore (_)
2. Consistsof alphanumericcharactersandthe underscore (_)
3. May notcontainspecial characters:
~ ! @ # $ % ^ & * ( ) + ` - = { } [ ] : " ; ' < > ? , . / |
4. Can be writteninmixedcase asBASICis case insensitive;e.g. First,FIRST, and fIrST
are an equivalentidentifier.
Elements ignored by the compiler include spaces, new lines, and tabs. All these elements are
collectively known as the “white space”. White space serves only to make the code more
legible – it does not affect the actual compiling.
Several identifiers are reserved in BASIC, meaning that you cannot use them as your own
identifiers (e.g. words function, byte, if, etc). For more information, please refer to the list
of reserved words. Also, BASIC has a number of predefined identifiers which are listed in
Chapter 4: Instructions.
2.2 Operators
BASIC language possesses set of operators which is used to assign values, compare values,
and perform other operations. The objects manipulated for that purpose are called operands
(which themselves can be variables, constants, or other elements).
Operators in BASIC must have at least two operands, with an exception of two unary
operators. They serve to create expressions and instructions that in effect compose the
program.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-13-320.jpg)
![27
Chapter 4: Control Structures
Introduction
4.1 Conditional Statements
4.1.1 IF..THEN Statement
4.1.2 SELECT..CASEStatement
4.1.3 GOTO Statement
4.2 Loops
4.2.1 FOR Statement
4.2.2 DO..LOOPStatement
4.2.3 WHILE Statement
4.3 ASMStatement
Introduction
Statements define algorithmic actions within a program. Simple statements - like assignments
and procedure calls - can be combined to form loops, conditional statements, and other
structured statements.
Simple statement does not contain any other statements. Simple statements include
assignments, and calls to procedures and functions.
Structured statements are constructed from other statements. Use a structured statement when
you want to execute other statements sequentially, conditionally, or repeatedly.
4.1 Conditional Statements
Conditional statements are used for change the flow of the program execution upon meeting a
certain condition. The BASIC instruction of branching in BASIC language is the IF
instruction, with several variations that provide the necessary flexibility.
4.1.1 IF..THEN Statement – conditional programbranching
Syntax if expression then
statements1
[ else
statements2 ]
end if
Description Instruction selects one of two possible program paths. Instruction IF..THEN is
the fundamental instruction of program branching in PIC BASIC and it can be
used in several ways to allow flexibility necessary for realization of decision
making logic.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-27-320.jpg)
![29
dim j as byte
Main:
if PORTB.0 = 0 then
j = j + 1
else
j = j - 1
endif
goto Main
end.
4.1.2 SELECT..CASE Statement – Conditionalmultipleprogrambranching
Syntax select case Selector
case Value_1
Statements_1
case Value_2
Statements_2
...
case Value_N
Statements_n
[ case else
Statements_else ]
end select
Description Select Case statement is used for selecting one of several available branches in
the program course. It consists of a selector variable as a switch condition, and
a list of possible values. These values can be constants, numerals, or
expressions.
Eventually, there can be an else statement which is executed if none of the
labels corresponds to the value of the selector.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-29-320.jpg)
![31
4.2 Loops
Loop statements allow repeating one or more instructions for a number of times. The
conducting expression determines the number of iterations loop will go through.
4.2.1 FOR Statement – Repeatingofa programsegment
Syntax for counter = initialValue to finalValue [step step_value]
statement_1
statement_2
...
statement_N
next counter
Description For statement requires you to specify the number of iterations you want the
loop to go through.
Counter is variable; initialValue and finalValue are expressions compatible
with counter; statement is any statement that does not change the value of
counter; step_value is value that is added to the counter in each iteration.
Step_value is optional, and defaults to 1 if not stated otherwise. Be careful
when using large values for step_value, as overflow may occur.
Every statement between for and next will be executed once per iteration.
Example Here is a simple example of a FOR loop used for emitting hex code on PORTB
for 7-segment display with common cathode. Nine digits should be printed with
one second delay.
for i = 1 to 9
portb = i
delay_ms(1000)
next i
4.2.2 DO..LOOP Statement – Loopuntil conditionisfulfilled
Syntax do
statement_1
...
statement_N
loop until expression
Description Expression returns a True or False value. The do..loop statement executes
statement_1; ...; statement_N continually, checking the expression after each
iteration. Eventually, when expression returns True, the do..loop statement
terminates.
The sequence is executed at least once because the check takes place in the end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-31-320.jpg)
![36
5.1.1 SetBit – Setsthe specifiedbit
Prototype sub procedure SetBit(dim byref Reg as byte, dim Bit as byte)
Description Sets<Bit> of register<Reg>.AnySFR (Special FunctionRegister) orvariable of byte
type can pass as validvariable parameter,butconstantsshouldbe inrange [0..7].
Example
SetBit(PORTB,2) ' set bit RB2
5.1.2 ClearBit – Clearsthespecifiedbit
Prototype sub procedure ClearBit(dim byref Reg as byte, dim Bit as byte)
Description Clears<Bit> of register<Reg>. AnySFR (Special FunctionRegister) orvariable of byte
type can pass as validvariable parameter,butconstantsshouldbe inrange [0..7].
Example ClearBit(PORTC,7) ' clear bit RC7
5.1.3 TestBit – Teststhe specifiedbit
Prototype sub function TestBit(dim byref Reg as byte, dim Bit as byte) as
byte
Description Tests<Bit> of register<Reg>.If set,returns1, otherwise 0.AnySFR(Special Function
Register) orvariable of byte type canpass as validvariable parameter,butconstants
shouldbe inrange [0..7].
Example TestBit(PORTA,2)
' returns 1 if PORTA bit RA2 is 1, returns 0 otherwise
5.1.4 Lo – Extractonebyte fromthe specifiedparameter
Prototype sub function Lo(dim Par as byte..longint) as byte
Description Returnsbyte 0 of <Par>, assumingthatword/integercomprisesbytes1and 0, and
longintcomprisesbytes3,2,1, and 0.
Example
Lo(A) ' returns lower byte of variable A](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-36-320.jpg)
![39
5.2.1.1 ByteToStr – Convertsbyteto string
Prototype sub procedure ByteToStr(dim input as byte, dim byref txt as
char[6])
Description Parameter <input> represents numerical value of byte type that should be
converted to string; parameter <txt> is passed by the address and contains the
result of conversion.
Parameter <txt> has to be of sufficient size to fit the converted string.
Example ByteToStr(Counter, Message)
' Copies value of byte Counter into string Message
5.2.1.2 WordToStr – Convertswordto string
Prototype sub procedure WordToStr(dim input as word, dim byref txt as
char[6])
Description Parameter <input> represents numerical value of word type that should be
converted to string; parameter <txt> is passed by the address and contains the
result of conversion.
Parameter <txt> has to be of sufficient size to fit the converted string.
Example WordToStr(Counter, Message)
' Copies value of word Counter into string Message
5.2.1.3 ShortToStr – Convertsshortto string
Prototype sub procedure ShortToStr(dim input as short, dim byref txt as
char[6])
Description Parameter <input> represents numerical value of short type that should be
converted to string; parameter <txt> is passed by the address and contains the
result of conversion.
Parameter <txt> has to be of sufficient size to fit the converted string.
Example ShortToStr(Counter, Message)
' Copies value of short Counter into string Message
5.2.1.4 IntToStr – Convertsintegerto string
Prototype sub procedure IntToStr(dim input as integer, dim byref txt as
char[6])
Description
Parameter <input> represents numerical value of integer type that should be](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-39-320.jpg)
![45
Description The procedure sets the CAN message filter. CAN must be in Configuration
mode. If not, all values will be ignored.
Parameters:
CAN_FILTER - One of predefined constant values
val - Actual filter register value.
CAN_CONFIG_FLAGS - Type of message to filter, either
CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG
Output:
Given value is bit adjusted to appropriate buffer filter registers
Example CANSetFilter(CAN_FILTER_B1_F1, 3, CAN_CONFIG_XTD_MSG)
5.2.3.7 CANWrite– Queuesmessagefortransmission
Prototype sub function CANWrite(dim id as longint, dim byref Data : as
byte[8], dim DataLen as byte, dim CAN_TX_MSG_FLAGS as byte) as
byte
Description If at least one empty transmit buffer is found, given message is queued for the
transmission. If none found, FALSE value is returned. CAN must be in Normal
mode.
Parameters:
id - CAN message identifier. Only 11 or 29 bits may be used depending on
message type (standard or extended)
Data - array of bytes up to 8 bytes in length
DataLen - Data length from 1 thru 8
CAN_TX_MSG_FLAGS - Value formed from constants (see section below)
Example aa1 = CAN_TX_PRIORITY_0 and ' form value to be used
CAN_TX_XTD_FRAME and ' with CANWrite
CAN_TX_NO_RTR_FRAME
CANWrite(-1, data, 1, aa1)
5.2.3.8 CANRead – Extractsand readsthe message
Prototype sub function CANRead(dim byref id as longint, dim byref Data as
byte[8], dim byref DataLen as byte, dim byref CAN_RX_MSG_FLAGS
as byte) as byte
Description If at least one full receive buffer is found, the function extracts and returns the
message as byte. If none found, FALSE value is returned. CAN must be in
mode in which receiving is possible.
Parameters:](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-45-320.jpg)
![51
Example CANSPISetBaudRate(1, 1, 3, 3, 1, aa)
5.2.4.5 CANSPISetMask – Setsthe CANmessagemask
Prototype sub procedure CANSPISetMask(CAN_MASK as byte, val as longint,
dim CAN_CONFIG_FLAGS as byte)
Description The procedure sets the CAN message mask. CAN must be in Configuration
mode. If not, all values will be ignored.
Parameters:
CAN_MASK - One of predefined constant value
val - Actual mask register value
CAN_CONFIG_FLAGS - Type of message to filter, either
CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG
Output:
Given value is bit adjusted to appropriate buffer mask registers.
Example CANSPISetMask(CAN_MASK_B2, -1, CAN_CONFIG_XTD_MSG)
5.2.4.6 CANSPISetFilter – Sets the CANmessagefilter
Prototype sub procedure CANSPISetFilter(dim CAN_FILTER as byte, dim val as
longint, dim CAN_CONFIG_FLAGS as byte)
Description The procedure sets the CAN message filter. CAN must be in Configuration
mode. If not, all values will be ignored.
Parameters:
CAN_FILTER - One of predefined constant values
val - Actual filter register value.
CAN_CONFIG_FLAGS - Type of message to filter, either
CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG
Output:
Given value is bit adjusted to appropriate buffer filter registers
Example CANSPISetFilter(CAN_FILTER_B1_F1, 3, CAN_CONFIG_XTD_MSG)
5.2.4.7 CANSPIWrite– Queuesmessagefortransmission
Prototype sub function CANSPIWrite(dim id as longint, dim byref Data : as
byte[8], dim DataLen as byte, dim CAN_TX_MSG_FLAGS as byte) as
byte](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-51-320.jpg)
![52
Description If at least one empty transmit buffer is found, given message is queued for the
transmission. If none found, FALSE value is returned. CAN must be in Normal
mode.
Parameters:
id - CAN message identifier. Only 11 or 29 bits may be used depending on
message type (standard or extended)
Data - array of as bytes up to 8 as bytes in length
DataLen - Data length from 1 thru 8
CAN_TX_MSG_FLAGS - Value formed from constants (see section below)
Example aa1 = CAN_TX_PRIORITY_0 and ' form value to be used
CAN_TX_XTD_FRAME and ' with CANSPIWrite
CAN_TX_NO_RTR_FRAME
CANSPIWrite(-1, data, 1, aa1)
5.2.4.8 CANSPIRead – Extractsand readsthe message
Prototype sub function CANSPIRead(dim byref id as longint, dim byref Data
as byte[8], dim byref DataLen as byte, dim byref
CAN_RX_MSG_FLAGS as byte) as byte
Description If at least one full receive buffer is found, the function extracts and returns the
message as byte. If none found, FALSE value is returned. CAN must be in
mode in which receiving is possible.
Parameters:
id - CAN message identifier
Data - array of bytes up to 8 bytes in length
DataLen - Data length from 1 thru 8
CAN_TX_MSG_FLAGS - Value formed from constants (see below)
Example
res = CANSPIRead(id, Data, 7, 0)
5.2.4.9 CANSPILibraryConstants
You need to be familiar with constants that are provided for use with the CAN module. All of
the following constants are predefined in CANSPI library.
CAN_OP_MODE
These constant values define CAN module operation mode. CANSetOperationMode() routine
requires this code. These values must be used by itself, i.e. they cannot be ANDed to form
multiple values.
const CAN_MODE_BITS = $E0 ' Use these to access opmode bits
const CAN_MODE_NORMAL = 0
const CAN_MODE_SLEEP = $20](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-52-320.jpg)
![59
5.2.5.9 CF_File_Write_Init– InitializesCFcardfor filewritingoperation(FAT16only,PIC18
only)
Prototype sub procedure CF_File_Write_Init(dim byref CtrlPort as byte, dim
byref DataPort as byte)
Description This procedure initializes CF card for file writing operation (FAT16 only,
PIC18 only).
Parameters:
CtrlPort - control port,
DataPort - data port
Example
CF_File_Write_Init(PORTB, PORTD)
5.2.5.10 CF_File_Write_Byte– Addsonebyte to file(FAT16only,PIC18only)
Prototype sub procedure CF_File_Write_Byte(dim byref CtrlPort as byte, dim
byref DataPort as byte,dim Bdata as byte)
Description This procedure adds one byte (Bdata) to file (FAT16 only, PIC18 only).
Parameters:
CtrlPort - control port,
DataPort - data port,
Bdata - data byte to be written.
Example while i < 50000
CF_File_Write_Byte(PORTB, PORTD, 48 + index)
' demonstration: writes 50000 bytes to file
inc(i)
wend
5.2.5.11 CF_File_Write_Complete – Closes fileandmakesit readable(FAT16only,PIC18
only)
Prototype sub procedure CF_File_Write_Complete(dim byref CtrlPort as byte,
dim byref DataPort as byte,dim byref Filename as char[9])
Description Upon all data has be written to file, use this procedure to close the file and
make it readable by Windows (FAT16 only, PIC18 only).
Parameters:
CtrlPort - control port,
DataPort - data port,
Filename (must be in uppercase and must have exactly 8 characters).](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-59-320.jpg)
![62
5.2.7.1 Flash_Read – Readsdata frommicrocontrollerFlashmemory
Prototype sub function Flash_Read(dim Address as longint) as byte ' for
PIC18
sub function Flash_Read(dim Address as word) as word ' for PIC16
Description
Procedure reads data from the specified <Address>.
Example for i = 0 to 63
toRead = Flash_Read($0D00 + i)
' read 64 consecutive locations starting from 0x0D00
next i
5.2.7.2 Flash_Write– Writesdata to microcontrollerFlashmemory
Prototype sub procedure Flash_Write(dim Address as longint, dim byref Data
as byte[64]) ' for PIC18
sub procedure Flash_Write(dim Address as word, dim Data as word)
' for PIC16
Description Procedure writes chunk of data to Flash memory (for PIC18, data needs to
exactly 64 bytes in size). Keep in mind that this function erases target memory
before writing <Data> to it. This means that if write was unsuccessful, your
previous data will be lost.
Example for i = 0 to 63 ' initialize array
toWrite[i] = i
next i
Flash_Write($0D00, toWrite) ' write contents of the array to
the address 0x0D00
5.2.8 I2C Library
I2C interface is serial interface used for communicating with peripheral or other
microcontroller devices. Routines below are intended for PIC MCUs with MSSP module. By
using these, you can configure and use PIC MCU as master in I2C communication.
5.2.8.1 I2C_Init– InitializesI2C module
Prototype sub procedure I2C_Init(const Clock as longint)
Description Initializes I2C module. Parameter <Clock> is a desired I2C clock (refer to
device data sheet for correct values in respect with Fosc).
Example I2C_Init(100000)](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-62-320.jpg)
![65
EN, const WR, const D7, const D6, const D5, const D4)
Description Initializes LCD at <Port> with pin settings you specify: parameters <RS>,
<EN>, <WR>, <D7> .. <D4> need to be a combination of values 0..7 (e.g.
3,6,0,7,2,1,4).
Example LCD_Config(PORTD, 1, 2, 0, 3, 5, 4, 6)
' Initializes LCD on PORTD with our custom pin settings
5.2.9.3 LCD_Chr – Printschar onLCD at specifiedrowandcol
Prototype sub procedure LCD_Chr(dim Row as byte, dim Column as byte, dim
Character as byte)
Description
Prints <Character> at specified <Row> and <Column> on LCD.
Example LCD_Chr(1, 2, "e")
' Prints character "e" on LCD (1st row, 2nd column)
5.2.9.4 LCD_Chr_CP – Printschar onLCD at currentcursorposition
Prototype sub procedure LCD_Chr_CP(dim Character as byte)
Description
Prints <Character> at current cursor position.
Example LCD_Chr_CP("k")
' Prints character "k" at current cursor position
5.2.9.5 LCD_Out – Prints stringon LCD at specifiedrowandcol
Prototype sub procedure LCD_Out(dim Row as byte, dim Column as byte, dim
byref Text as char[255])
Description Prints <Text> (string variable) at specified <Row> and <Column> on LCD.
Both string variables and string constants can be passed.
Example LCD_Out(1, 3, Text)
' Prints string variable Text on LCD (1st row, 3rd column)
5.2.9.6 LCD_Out_CP – Prints stringon LCD at current cursorposition
Prototype sub procedure LCD_Out_CP(dim byref Text as char[255])
Description Prints <Text> (string variable) at current cursor position. Both string variables
and string constants can be passed.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-65-320.jpg)
![68
D6, const D5, const D4, const D3, const D2, const D1, const D0)
Description Initializes LCD at <Port_Ctrl> and <Port_Data> with pin settings you
specify: parameters <RS>, <EN>, <WR> need to be in range 0..7; parameters
<D7>..<D0> need to be a combination of values 0..7 (e.g. 3,6,5,0,7,2,1,4).
Example LCD8_Config(PORTC, PORTD, 0, 1, 2, 6, 5, 4, 3, 7, 1, 2, 0)
' Initializes LCD on PORTC and PORTD with our custom pin
settings
5.2.10.3 LCD8_Chr – Printschar onLCD at specifiedrow andcol
Prototype sub procedure LCD8_Chr(dim Row as byte, dim Column as byte, dim
Character as byte)
Description
Prints <Character> at specified <Row> and <Column> on LCD.
Example LCD8_Chr(1, 2, "e")
' Prints character "e" on LCD (1st row, 2nd column)
5.2.10.4 LCD8_Chr_CP – Printschar onLCD at currentcursorposition
Prototype sub procedure LCD8_Chr_CP(dim Character as byte)
Description
Prints <Character> at current cursor position.
Example LCD8_Chr_CP("k")
' Prints character "k" at current cursor position
5.2.10.5 LCD8_Out– Prints stringonLCD at specifiedrowandcol
Prototype sub procedure LCD8_Out(dim Row as byte, dim Column as byte, dim
byref Text as char[255])
Description Prints <Text> (string variable) at specified <Row> and <Column> on LCD.
Both string variables and string constants can be passed.
Example LCD8_Out(1, 3, Text)
' Prints string variable Text on LCD (1st row, 3rd column)
5.2.10.6 LCD8_Out_CP – Prints stringonLCD at currentcursorposition
Prototype sub procedure LCD8_Out_CP(dim byref Text as char[255])
Description
Prints <Text> (string variable) at current cursor position. Both string variables](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-68-320.jpg)
![74
5.2.11.15 GLCD_Clear_Screen – ClearstheGLCD screen
Prototype sub procedure GLCD_Clear_Screen
Description
Clears the GLCD screen.
Example GLCD_Clear_Screen
5.2.11.16 GLCD_Put_Text– Printstext at specifiedposition
Prototype sub procedure GLCD_Put_Text(dim x_pos as word, dim y_pos as
word, dim byref text as char[25], dim invert as byte)
Description
Prints <text> at specified position; y_pos spans 0..7.
Example GLCD_Put_Text(0, 7, My_text, NONINVERTED_TEXT)
5.2.11.17 GLCD_Rectangle– Drawsa rectangle
Prototype sub procedure GLCD_Rectangle(dim X1 as byte, dim Y1 as byte, dim
X2 as byte, dim Y2 as byte)
Description Draws a rectangle on the GLCD. (x1,y1) sets the upper left corner, (x2,y2) sets
the lower right corner.
Example GLCD_Rectangle(10, 0, 30, 35)
5.2.11.18 GLCD_Set_Font– Sets font forGLCD
Prototype sub procedure GLCD_Set_Font(dim font_index as byte)
Description Sets font for GLCD. Parameter <font_index> spans from 1 to 4, and determines
which font will be used:
1: 5x8 dots
2: 5x7
3: 3x6
4: 8x8
Example GLCD_Set_Font(2)](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-74-320.jpg)
![76
Example Man_Receive_Config(PORTD, 5)
5.2.12.3 Man_Receive– Receivesabyte
Prototype sub function Man_Receive(dim byref Error as byte) as byte
Description Function extracts one byte from signal. If format does not match the expected,
<Error> flag will be set True.
Example dim ErrorFlag as byte
temp = Man_Receive(ErrorFlag) ' Attempt byte receive
5.2.12.4 Man_Send_Init– Initializationwithdefaultpin
Prototype sub procedure Man_Send_Init(dim byref Port as byte)
Description Procedure works same as Man_Send_Config, but with default pin setting (pin
0).
Example Man_Send_Init(PORTB)
5.2.12.5 Man_Send_Config– Initializationwithcustompin
Prototype sub procedure Man_Send_Config(dim byref Port as byte, dim TXpin
as byte)
Description Procedure needs to be called in order to send signals via procedure Man_Send.
Procedure specifies <Port> and <TXpin> for outgoing signal (const baud rate).
Example
Man_Send_Config(PORTB, 4)
5.2.12.6 Man_Send – Sendsabyte
Prototype sub procedure Man_Send(dim Data as byte)
Description
Procedure sends one <Data> byte.
Example for i = 1 to StrLen(s1)
Man_Send(s1[i]) ' Send char
Delay_ms(90)
next i](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-76-320.jpg)
![79
Note: Address 50 is a common address for all Slave devices: packets containing address 50
will be received by all Slaves. The only exceptions are Slaves with addresses 150 and 169,
which require their particular address to be specified in the packet.
5.2.14.1 RS485Master_Init– InitializesMCUasMasterin RS485communication
Prototype sub procedure RS485master_init
Description Initializes MCU as Master in RS485 communication. USART needs to be
initialized.
Example
RS485Master_Init
5.2.14.2 RS485Master_Read – ReceivesmessagefromSlave
Prototype sub procedure RS485master_read(dim byref data as byte[5])
Description Master receives any message sent by Slaves. As messages are multi-byte, this
procedure must be called for each byte received (see the example at the end of
the chapter). Upon receiving a message, buffer is filled with the following
values:
data[0..2] is actual data
data[3] is numberof bytesreceived,1..3
data[4] is setto 255 whenmessage isreceived
data[5] is setto 255 if error hasoccurred
data[6] is the addressof the Slave whichsentthe message
Procedure automatically sets data[4] and data[5] upon every received message.
These flags need to be cleared repeatedly from the program.
Note: MCU must be initialized as Master in 485 communication to assign an
address to MCU
Example RS485Master_Read(dat)
5.2.14.3 RS485Master_Write– Sendsmessageto Slave
Prototype sub procedure RS485Master_Write(dim byref data as byte[2], dim
datalen as byte, dim address as byte)
Description Routine sends number of bytes (1 < datalen <= 3) from buffer via 485, to slave
specified by <address>.
MCU must be initialized as Master in 485 communication. It is programmer's
responsibility to ensure (by protocol) that only one device sends data via 485](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-79-320.jpg)
![80
bus at a time.
Example
RS485Master_Write(dat, 1)
5.2.14.4 RS485Slave_Init– InitializesMCUasSlaveinRS485communication
Prototype sub procedure RS485Slave_Init(dim address as byte)
Description Initializes MCU as Slave in RS485 communication. USART needs to be
initialized.
<address> can take any value between 0 and 255, except 50, which is common
address for all slaves.
Example RS485Slave_Init(160) ' initialize MCU as Slave with address
160
5.2.14.5 RS485Slave_Read – ReceivesmessagefromMaster
Prototype sub procedure RS485Slave_Read(dim byref data as byte[5])
Description Only messages that appropriately address Slaves will be received. As messages
are multi-byte, this procedure must be called for each byte received (see the
example at the end of the chapter). Upon receiving a message, buffer is filled
with the following values:
data[0..2] is actual data
data[3] is numberof bytesreceived,1..3
data[4] is setto 255 whenmessage isreceived
data[5] is setto 255 if error hasoccurred
restof the bufferisundefined
Procedure automatically sets data[4] and data[5] upon every received message.
These flags need to be cleared repeatedly from the program.
MCU must be initialized as Master in 485 communication to assign an address
to MCU.
Example
RS485Slave_Read(dat)
5.2.14.6 RS485Slave_Write– Sendsmessageto Master
Prototype sub procedure RS485Slave_Write(dim byref data as byte[2], dim
datalen as byte)](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-80-320.jpg)
![97
program ADC_on_LCD
dim AD_Res as word
dim dummyCh as char[6]
main:
TRISA = %1111111 ' PORTA is input
TRISB = 0 ' PORTB is output (for LCD)
ADCON1 = %10000010 ' PORTA is in analog mode,
' 0 and 5V are referent voltage values,
' and the result is aligned right.
Lcd_Init(PORTB) ' Initialize LCD
Lcd_Cmd(LCD_CLEAR) ' Clear LCD
Lcd_Cmd(LCD_CURSOR_OFF) ' and turn the cursor off
eloop:
AD_Res = ADC_Read(2) ' Execute conversion and store result
' to variable AD_Res
LCD_Out(1, 1, " ") ' Clear LCD from previous result
WordToStr(AD_Res, dummyCh) ' Convert the result in text,
LCD_Out(1, 1, dummyCh) ' and print it in line 1, char 1
Delay_ms(500) ' 500 ms pause
goto eloop ' Repeat all
end. ' End of program](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-97-320.jpg)
![112
LCD connects to microcontroller via 4-bit or 8-bit bus (4 or 8 lines). R/W signal is on the
ground, because communication is one-way (toward LCD). Some displays have built-in
backlight that can be turned on with RD1 pin via PNP transistor BC557.
Our following example prints text on LCD via 4-bit interface. Assumed pin configuration is
default.
program LCD_default_test
dim Text as char[20]
main:
TRISB = 0 ' PORTB is output
LCD_Init(PORTB) ' Initialize LCD at PORTB
LCD_Cmd(LCD_CURSOR_OFF) ' Turn off cursor
Text = "mikroelektronika"
LCD_Out(1, 1, Text) ' Print text at LCD
end.
Our second example prints text on LCD via 8-bit interface, with custom pin configuration.
program Lcd8_default_test
dim text as char[20]
main:
TRISB = 0 ' PORTB is output
TRISD = 0 ' PORTD is output
Lcd8_Init(PORTB, PORTD) ' Initialize LCD at PORTB and PORTD
Lcd8_Cmd(Lcd_CURSOR_OFF) ' Turn off cursor
text = "mikroElektronika"
Lcd8_Out(1, 1, text) ' Print text at LCD
end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-112-320.jpg)
![114
BASIC offers a comprehensive library for GLCD – refer to Chapter 5: Built-in and Library
Routines for more information. Our following example demonstrates the possibilities of
GLCD and the mentioned library. Note that the library works with PIC18 only.
program GLCD_test
' For PIC18
include "GLCD_128x64.pbas" ' You need to include GLCD_128x64 library
dim text as string[25]
main:
PORTC = 0
PORTB = 0
PORTD = 0
TRISC = 0
TRISD = 0
TRISB = 0
GLCD_LCD_Init(PORTC, PORTD) ' default settings
GLCD_Set_Font(FONT_NORMAL1)
while true
GLCD_Clear_Screen
' Draw Circles
GLCD_Clear_Screen](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-114-320.jpg)
![121
8.2 Flash Memory
Flash memory is a form of EEPROM that allows multiple memory locations to be erased or
written in one programming operation. Normal EEPROM only allows one location at a time
to be erased or written, meaning that Flash can operate at higher effective speeds when the
systems using it read and write to different locations at the same time.
Flash memory stores information on a silicon chip in a way that does not need power to
maintain the information in the chip. This means that if you turn off the power to the chip, the
information is retained without consuming any power. In addition, Flash offers fast read
access times and solid-state shock resistance. These characteristics make it very popular for
microcontroller applications and for applications such as storage on battery-powered devices
like cell phones.
Many modern PIC microcontrollers utilize Flash memory, usually in addition to normal
EEPROM storage chip. Therefore, BASIC provides a library for direct accessing and
working with MCU’s Flash. Note: Routines differ for PIC16 and PIC18 families, please refer
to Chapter 5: Built-in and Library Routines.
The following code demonstrates use of Flash Memory library routines:
' for PIC18
program flash_pic18_test
const FLASH_ERROR = $FF
const FLASH_OK = $AA
dim toRead as byte
dim i as byte
dim toWrite as byte[64]
main:
TRISB = 0 ' PORTB is output
for i = 0 to 63 ' initialize array
toWrite[i] = i
next i
Flash_Write($0D00, toWrite) ' write contents of the array to the
address 0x0D00
' verify write
PORTB = 0 ' turn off PORTB
toRead = FLASH_ERROR ' initialize error state
for i = 0 to 63
toRead = Flash_Read($0D00+i) ' read 64 consecutive locations
starting from 0x0D00
if toRead <> toWrite[i] then ' stop on first error
PORTB = FLASH_ERROR ' indicate error
Delay_ms(500)
else
PORTB = FLASH_OK ' indicate there is no error
end if
next i
end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-121-320.jpg)
![124
First,write-to-file isinitialized,tellingtoPICthat all consecutive CF_File_Write_Byte
instructionswillwrite toanewfile;
Then,actual write of data is performed(with CF_File_Write_Byte);
Finally,finishof write-to-file cycle issignallizedwith call toCF_File_Write_Complete
routine.Atthatmoment,the newlycreatedfileisgivenitsname.
program CompactFlash_File
' for PIC18
dim i1 as word
dim index as byte
dim fname as char[9]
dim ext as char[4]
sub procedure Init
TRISC = 0 ' PORTC is output. We'll use it only
to signal
' end of our program.
CF_Init_Port(PORTB, PORTD) ' Initialize ports
do
nop
loop until CF_DETECT(PORTB) = true ' Wait until CF card is inserted
Delay_ms(50) ' Wait for a while until the card is
stabilized
end sub ' i.e. its power supply is stable
and CF card
' controller is on
main:
ext = "txt" ' File extensions will be "txt"
index = 0 ' Index of file to be written
while index < 5
PORTC = 0
Init
PORTC = index
CF_File_Write_Init(PORTB, PORTD) ' Initialization for
writing to new file
i1 = 0
while i1 < 50000
CF_File_Write_Byte(PORTB,PORTD,48+index) ' Writes 50000 bytes to
file
inc(i1)
wend
fname = "RILEPROX" ' Must be 8 character long
in upper case
fname[8] = 48 + index ' Ensure that files have
different name
CF_File_Write_Complete(PORTB,PORTD, fname, ext) ' Close the file
Inc(index)
wend
PORTC = $FF
end.
If you do not wish to use your CF card in PCs and digicams but ruther as a simple storage
device for your PIC MCU only, you can then ignore the entire FAT system and store data
directly to CF memory sectors:](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-124-320.jpg)
![130
PORTC = PORTC and $FD ' SELECT MAX
SPI_Write($00)
SPI_Write($FF) ' No test
PORTC = PORTC or 2 ' DESELECT MAX
end sub
end.
Using software SPI is similar to any software communication – the software contained in
BASIC routines simulates the real device. Having that in mind, you must be careful with
initialization routines. Here’s an example that uses software SPI to “talk to” another chip (the
LTC1290 multiple channel 12-bit A/D converter), this time over the RD1 pin.
'**************************************************************************
*****
' microcontroller : P18F452
'
' Project: LTC1290
'
' This code demonstrates using software routines for SPI communication.
' Also, this example demonstrates working with ADC LTC1290.
' CS pin LTC1290 should be connnected to RD1
' and SDO, SDI, SCKL pins should be appropriately connected.
' Result of AD conversion is printed on LCD display.
' Tested on 16F877A and 18F452
'**************************************************************************
*****
program ltc1290
dim low_res as byte
dim high_res as byte
dim t as char[17]
' Formats and prints result on LCD
sub procedure Display_ADval
dim tmp as word
dim value as longint
tmp = word((high_res << 4)) + word(low_res <b>>> 4)
value = (5000*tmp) <b>>> 12
tmp = word(value)
t[1]= 48 + word(tmp div 1000)
t[3]= 48 + word((tmp div 100) mod 10)
t[4]= 48 + word((tmp div 10) mod 10)
t[5]= 48 + word(tmp mod 10)
t[2]= 46
t[0]= 5 'length of the string is in the zero
element
LCD_out(2, 1, t)
end sub
main:
PIE1 = 0
INTCON = 0 ' disable interrupts
TRISB = 0 ' designate portb as output
LCD_Init(PORTB) ' initialize LCD on PORTB
LCD_Cmd(LCD_CURSOR_OFF) ' LCD cursor off
low_res = 110
high_res = 1](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-130-320.jpg)
![135
Manchester encoding solves this problem by treating the data (i.e. 1’s and 0’s) not as signal
(voltage, current) levels, but rather as a transition pattern between the levels. This means that
“1” is coded as transition from high to low signal level, while the “0” is coded in the opposite
way – as transition from low to high signal level. So, the data from the previous example, in
Manchester encoding, looks like this (showing only the “data” portion of message):
You can see that the voltage summary now remains zero no matter how much and what kind
of data we are sending.
If you wish to find out more on Manchester encoding, there’s plenty of material about it on
the Internet
9.4.2 Manchester Code Examples
in BASIC, Manchester encoding functions are implemented on top of the software UART
library. Using them is similar to software UART, exept the necessity to re-synchronize the
receiver side if there are too many errors.
The first example is code for the transmit side of the link:
'**************************************************************************
*****
' microcontroller P18F452
'
' Project RTX
' This project is designed to work with PIC 18F452
' with minor adjustments, it should work with any other PIC MCU
'
' This code demonstrates how to send data using Manchester encoding
'**************************************************************************
*****
program RF_TX
dim i as byte
dim s1 as string[20]
main:
PORTB = 0 ' Initialize port](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-135-320.jpg)
![136
TRISB = %00001110
ClearBit(INTCON, GIE) ' Disable interrupts
Man_Send_Init(PORTB) ' Initialize manchester sender
while TRUE
Man_Send($0B) ' Send start marker
Delay_ms(100) ' Wait for a while
s1 = "mikroElektronika"
for i = 1 to StrLen(s1)
Man_Send(s1[i]) ' Send char
Delay_ms(90)
next i
Man_Send($0E) ' Send end marker
Delay_ms(1000)
wend
end.
As you can see, the transmit side is pretty straightforward. The receive side needs to have a
little extra coding to provide the re-synchronization during data receive, if necessary. In
BASIC, Manchester receive routines (Man_Receive_Config, Man_Receive_Init,
Man_Receive) are blocking calls. This means that PIC will wait until the task is performed
(e.g. byte is received, synchronization achieved, etc.). Routines for receiving are limited to a
baud rate scope from 340 ~ 560 bps.
'**************************************************************************
*****
' microcontroller: P16F877A
'
' Project: RRX
' This project is designed to work with PIC 16F877A
' with minor adjustments, it should work with any other PIC MCU
'
' This code shows how to use manchester library for receiving data.
' The example works in conjuction with transmitter which sends
' the word "mikroElektronika" using Manchester encoding.
'**************************************************************************
*****
program RRX
dim ErrorFlag as byte
dim ErrorCount as byte
dim IdleCount as byte
dim temp as byte
dim LetterCount as byte
main:
errorCount = 0
trisc = 0 ' ErrorFlag indicator
portc = 0
Man_Receive_Config(PORTD,6) ' Initialize receiver and try to
synchronize it
LCD_Init(PORTB) ' Initialize LCD on PORTB
while true
do ' Loop endlessly
IdleCount = 0 ' Reset idle counter
temp = Man_Receive(ErrorFlag) ' Attempt byte receive
if ErrorFlag then
inc(errorCount)](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-136-320.jpg)
![138
handshake,you’llneed3wiresforthis:Rx (receive),Tx (transmit) andGND(ground) as
commonreference point.Thisalsomeans thatthe differenceinGNDvoltage levelsbetween
the devicesincommunicationmustbe verysmall (if any).Onthe otherhand,at RS485,
signalsare representedbyvoltage difference,whichallowsformuchlongercable distances
(withmuchmore electrical noise) tobe covered.
Numberof endpointsin communication:RS232 is a single-pointprotocol,meaningyoucan
connectonlyone peripheral toyourPCor PIC throughone RS232 link.RS485 ismultipoint
protocol,whichallowsmultipledevicestobe connected toasingle signal cable.
Type of communication:RS232 is a full-duplex communication,meaningthatbothsidescan
sendand receive datasimultaneously.RS485is a half-duplex communication –onlyone
device cansendmessagesata time,while othersonthe netare listening.
You should use RS485:
Whenyouneedyourdevice tocommunicate tomore than one of its“colleagues”,i.e.when
youneedto have a network of devices.Upto 32 devices(instandardconfiguration)canbe
connected;
Whenyouneedto coverlargerdistancesthanthose younormallycando withRS232. For RS
485 the cable can be up to 1200 meterslong,comparedtomax.30 – 60 metersforRS232;
To implement all this, RS485 uses the Master/Slave architecture. This means that one device
(the master) controls the line, allowing other devices (slaves) to send messages only when
spoken to. Master and slave devices interchange packets of information, each of these packets
containing synchronization bytes, CRC byte, address byte, and the data. In Master/Slave
architecture, slave can never initiate communication. Each slave has its unique address and
receives only the packets containing that particular address. It is programmer’s responsibility
to ensure that only one device transmits data via 485 bus at a time.
BASIC provides a set of library routines to allow you comfortable working with RS485
system. RS485 routines require USART module on PORTC. Pins of USART need to be
attached to RS485 interface transceiver, such as LTC485 or similar. Pins of transceiver
(Receiver Output Enable and Driver Outputs Enable) should be connected to PORTC, pin 2
(see the figure at end of the chapter). Note that address 50 is a common address for all Slave
devices: packets containing address 50 will be received by all Slaves. The only exceptions are
slaves with addresses 50 and 169, which require their particular address to be specified in the
packet.
The following example demonstrates use of Slave nod in RS485 Master/Slave architecture.
program pr485
dim dat as byte[8] ' Buffer for receiving/sending messages
dim i as byte
dim j as byte
sub procedure interrupt
if TestBit(RCSTA, OERR) = 1 then
PORTD = $81
end if
RS485Slave_Read(dat) ' Every byte is received by
end sub ' RS485Slave_Read(dat);
' Upon receiving a message w/o errors
main: ' data[4] is set to 255](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-138-320.jpg)
![139
TRISB = 0
TRISD = 0
USART_Init(9600) ' Initialize usart module
RS485Slave_Init(160) ' Initialize MCU as Slave with address
160
SetBit(PIE1, RCIE) ' Enable interrupt
SetBit(INTCON, PEIE) ' on byte received
ClearBit(PIE2, TXIE) ' via USART (RS485)
SetBit(INTCON, GIE)
PORTB = 0
PORTD = 0 ' Ensure that message received flag is
0
dat[4] = 0 ' Ensure that error flag is 0
dat[5] = 0
while true
if dat[5] then
PORTD = $AA ' If there is error, set PORTD to $aa
end if
if dat[4] then ' If message received:
dat[4] = 0 ' Clear message received flag
j = dat[3] ' Number of data bytes received
for i = 1 to j
PORTB = dat[i - 1] ' Output received data bytes
next i
dat[0] = dat[0] + 1 ' Increment received dat[0]
RS485Slave_Write(dat,1) ' Send it back to Master
end if
wend
end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-139-320.jpg)
![141
In low-level part of this protocol, each bit is transferred by the master by pulling the line low.
Whether the bit is zero or one depends on how long the line is kept low, longer time for the
“0” and shorter for the “1”. When the master is reading a bit from a slave it pulls the line low
for a minimum amount of time. The slave pulls the line low as well and after the master
releases the line the slave keeps it low for the time required for the bit type (same as for the
master).
The higher level protocol, also known as 1-wire Bus System, allows the master to enumerate
devices on the bus. The master sends a command for all slaves to respond with their
registration number. As each bit is being read, the master sends the value of the bit it is
interested in. The slaves that match continue while the slaves that don’t match stop
outputting. By the time the entire configuration code is read, one unique code has been read
identifying one device. The command is repeated until no new devices respond and all
devices on the bus have been identified.
This code demonstrates use of low-level 1-wire library procedures and functions in BASIC.
The example reads the temperature using DS1820 connected to PORTA, pin 5. Be sure to set
the Fosc (oscillator frequency) appropriately in your project.
program onewire_test
dim i as byte
dim j1 as byte
dim j2 as byte
dim por1 as byte
dim por2 as byte
dim text as char[20]
main:
text = "Temperature:"
PORTB = 0 ' initialize PORTB to 0
PORTA = 255 ' initialize PORTA to 255
TRISB = 0 ' PORTB is output
TRISA = 255 ' PORTA is input
LCD_Init(PORTB)
LCD_Cmd(LCD_CURSOR_OFF)
LCD_Out(1, 1, text)
do
OW_Reset(PORTA, 5) ' 1-wire reset signal
OW_Write(PORTA, 5, $CC) ' issue command to DS1820
OW_Write(PORTA, 5, $44) ' issue command to DS1820
Delay_ms(120)
i = OW_Reset(PORTA, 5)
OW_Write(PORTA, 5, $CC) ' issue command to DS1820
OW_Write(PORTA, 5, $BE) ' issue command to DS1820
Delay_ms(1000)
j1 = OW_Read(PORTA, 5) ' get result
j2 = OW_Read(PORTA, 5) ' get result
j1 = j1 >> 1 ' assuming the temp. >= 0C
ByteToStr(j1, text) ' convert j1 to text
LCD_Out(2, 8, text) ' print text
LCD_Chr(2, 10, 223) ' degree character (°)
LCD_Chr(2, 11, "C")
Delay_ms(500)
loop until false ' endless loop
end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-141-320.jpg)
![143
Remember, each of the communication standards, protocols and devices described in this
chapter has its own scope of applications!
CAN was originally created by the BOSCH company in the early 80’s for automotive
electronics, to allow for various car/truck/bus electronic systems (such as ABS, Electronic
Power Control, AquaStop, GPS/navigation, data display system, etc) to exchange data over
(single) serial bus, i.e. to form a network of devices within the vehicle. It soon proved its
value, expanding itself into other areas, such as HVAC, elevators and Building Automation
systems. Its price and transfer rate characteristics put the CAN in between the RS485 (older,
slower, and by far cheaper) and the Ehternet (newer, faster, and more complex/expensive),
and that’s also where its scope of applications stands.
CAN is a very robust protocol that has error detection and signalling, self–checking and fault
confinement. Faulty CAN data and remote frames are re-transmitted automatically, just like
at Ethernet.
Data transfer rates vary from up to 1 Mbit/s at network lengths below 40 m to 250 kbit/s at
250 m cables, and can go even lower at greater network distances, downto 200 kbit/s, which
is the minimum bitrate defined by the standard. Cables used are shielded twisted pairs, and
maximum cable length is 1000 m.
CAN supports two message formats:
Standardformat,with11 identifierbits,and
Extendedformat,with29identifierbits
The protocol itself is standardized in ISO 11898-1 (2003). Every CAN solution must
implement the standard format and may accept the extended format.
Here, all devices are connected to a single shared bus and they are all allowed to start a
transmission (whenever they want to), unlike at RS485. Therefore, if two or more devices
start transmitting simultaneously, there must be some arbitration scheme involved to decide
which one will be granted permission to continue transmitting. This mechanism is called the
Carrier Sense Multiple Access / Collision Avoidance (CSMA/CA) scheme.
The example that follows is a simple demonstration of working with the CAN system through
BASIC programming language. The CAN device is first initialized, then the data is
intermittently read, incremented and written back. The PIC that is used for this example must
have the CAN module built-in, e.g. you could use the P18F448 or any other PIC MCU from
P18Fxx8 family. Furthermore, you need to have a chip that performs signal conditionning for
CAN bus (or CAN transceiver) to boost up voltage levels and make level transition cleaner
and less noisy, and for that purpose we used the MCP2551 IC.
program can_test
dim aa as byte
dim aa1 as byte
dim lenn as byte
dim aa2 as byte
dim data as byte[8]
dim id as longint
dim zr as byte](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-143-320.jpg)
![144
dim cont as byte
dim oldstate as byte
sub function TestTaster as byte
result = true
if Button(PORTB, 0, 1, 0) then
oldstate = 255
end if
if oldstate and Button(PORTB, 0, 1, 1) then
result = false
oldstate = 0
end if
end sub
main:
TRISB.0 = 1 ' Pin RB0 is input
PORTC = 0
TRISC = 0
PORTD = 0
TRISD = 0
aa = 0
aa1 = 0
aa2 = 0
aa1 = CAN_TX_PRIORITY_0 and ' Form value to be used
CAN_TX_XTD_FRAME and ' with CANSendMessage
CAN_TX_NO_RTR_FRAME
aa = CAN_CONFIG_SAMPLE_THRICE and ' Form value to be used
CAN_CONFIG_PHSEG2_PRG_ON and ' with CANInitialize
CAN_CONFIG_STD_MSG and
CAN_CONFIG_DBL_BUFFER_ON and
CAN_CONFIG_VALID_XTD_MSG and
CAN_CONFIG_LINE_FILTER_OFF
cont = true ' Upon signal change on RB0 pin
while cont ' from logical 0 to 1
' proceed with program
cont = TestTaster ' execution
wend
data[0] = 0
CANInitialize( 1,1,3,3,1,aa) ' Initialize CAN
CANSetOperationMode(CAN_MODE_CONFIG,TRUE) ' Set CONFIGURATION
mode
ID = -1
CANSetMask(CAN_MASK_B1,ID,CAN_CONFIG_XTD_MSG) ' Set all mask1 bits
to ones
CANSetMask(CAN_MASK_B2,ID,CAN_CONFIG_XTD_MSG) ' Set all mask2 bits
to ones
CANSetFilter(CAN_FILTER_B1_F1,3,CAN_CONFIG_XTD_MSG) ' Set id of filter
B1_F1 to 3
CANSetOperationMode(CAN_MODE_NORMAL,TRUE) ' Set NORMAL mode
PORTD = $FF
id = 12111
CANWrite(id, data, 1, aa1) ' Send message via CAN
while true
oldstate = 0
zr = CANRead(id, Data, lenn, aa2)
if (id = 3) and zr then](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-144-320.jpg)
![145
PORTD = $AA
PORTC = data[0] ' Output data at PORTC
data[0] = data[0]+1
id = 12111
CANWrite(id, data, 1, aa1) ' Send incremented data back
if lenn = 2 then ' If message contains two data as
bytes
PORTD = data[1] ' output second as byte at
PORTD
end if
end if
wend
end.
9.7.2 CANSPI
Working with CAN is nice, but what about those PICs that do not have the CAN module?
The BASIC solution for them is the CANSPI, actual CAN-over-SPI module library. Each
routine of CAN library has its CANSPI counterpart with identical syntax. This library
provides us with a fictive external CAN module that can be communicated with through the
SPI.
In example that follows we used the MCP2510 CAN controller. For more information consult
the previous entry and example. Please note that the effective communication speed now
depends on the SPI, and is certainly slower than the “real” CAN.
program CANSPI
dim aa as byte
dim aa1 as byte
dim lenn as byte](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-145-320.jpg)
![146
dim aa2 as byte
dim data as byte[8]
dim id as longint
dim zr as byte
main:
TRISB = 0
SPI_init ' Must be performed before any other activity
TRISC.2 = 0 ' This pin is connected to Reset pin of MCP2510
PORTC.2 = 0 ' Keep MCP2510 in reset state
PORTC.0 = 1 ' Make sure that MCP2510 is not selected
TRISC.0 = 0 ' Make RC0 output
PORTD = 0
TRISD = 0 ' PORTD is output
aa = 0
aa1 = 0
aa2 = 0
aa = CAN_CONFIG_SAMPLE_THRICE and
CAN_CONFIG_PHSEG2_PRG_ON and
CAN_CONFIG_STD_MSG and
CAN_CONFIG_DBL_BUFFER_ON and
CAN_CONFIG_VALID_XTD_MSG ' Prepare flags for CANSPIinitialize
procedure
PORTC.2 = 1 ' Activate MCP2510 chip
aa1 = CAN_TX_PRIORITY_BITS and
CAN_TX_FRAME_BIT and
CAN_TX_RTR_BIT ' Prepare flags for CANSPIwrite
function
CANSPIInitialize( 1,2,3,3,1,aa) ' Initialize MCP2510
CANSPISetOperationMode(CAN_MODE_CONFIG,true) ' Set configuration
mode
ID = -1
CANSPISetMask(CAN_MASK_B1,id,CAN_CONFIG_XTD_MSG)
' bring all mask1 bits to ones
CANSPISetMask(CAN_MASK_B2,0,CAN_CONFIG_XTD_MSG)
' bring all mask2 bits to ones
CANSPISetFilter(CAN_FILTER_B1_F1,12111,CAN_CONFIG_XTD_MSG)
' set filter_b1_f1 id to 12111
CANSPISetOperationMode(CAN_MODE_NORMAL,true)
' get back to Normal mode
while true
zr = CANSPIRead(id, Data, lenn, aa2)
if (id = 12111) and zr then
PORTD = $AA
PORTB = data[0]
data[0] = data[0] + 1
id = 3
Delay_ms(10)
CANSPIWrite(id, data, 1, aa1)
if lenn = 2 then
PORTD = data[1]
end if
end if
wend
end.](https://image.slidesharecdn.com/mikrobasic3511/85/MikroBasic-146-320.jpg)
MikroBasic
- 2. 2 Table of Contents Preface Chapter 1: The Basics Chapter 2: Elements of BASIC Language Chapter 3: Operators Chapter 4: Control Structures Chapter 5: Built-in and Library Routines Chapter 6: Examples with PIC Integrated Peripherals Chapter 7: Examples with Displaying Data Chapter 8: Examples with Memory and Storage Media Chapter 9: Communications Examples Appendix A: mikroBasic IDE
- 3. 3 Preface In order to simplify things and crash some prejudices, I will allow myself to give you some advice before reading this book. You should start reading it from the chapter that interests you the most, in any order you find suitable. As the time goes by, read the parts you may need at that exact moment. If something starts functioning without you knowing exactly how, it shouldn’t bother you too much. Anyway, it is better that your program works than that it doesn’t. Always stick to the practical side of life. Better to finish the application on time, make it reliable and, of course, get paid for it as well as possible. In other words, it doesn’t matter if the exact manner in which the electrons move within the PN junctions escapes your knowledge. You are not supposed to know the whole history of electronics in order to assure the income for you or your family. Do not expect that you will find everything you need in a single book, though. The information are dispersed literally everywhere around us, so it is necessary to collect them diligently and sort them out carefully. If you do so, the success is inevitable. With all my hopes of having done something worthy investing your time in. Yours, Nebojsa Matic
- 4. 4 Chapter 1: The Basics Introduction Why BASIC? Choosingthe rightPICfor the task A wordabout code writing Writingand compilingyourprogram Loadingprogram to microcontroller Runningthe program Troubleshooting Introduction Simplicity and ease which higher programming languages bring in, as well as broad application of microcontrollers today, were reasons to incite some companies to adjust and upgrade BASIC programming language to better suit needs of microcontroller programming. What did we thereby get? First of all, developing applications is faster and easier with all the predefined routines which BASIC brings in, whose programming in assembly would take the largest amount of time. This allows programmer to concentrate on solving the important tasks without wasting his time on, say, code for printing on LCD display. To avoid any confusion in the further text, we need to clarify several terms we will be using frequently throughout the book: Programming language is a set of commands and rules according to which we write the program. There are various programming languages such as BASIC, C, Pascal, etc. There is plenty of resources on BASIC programming language out there, so we will focus our attention particularly to programming of microcontrollers. Program consists of a sequence of commands written in programming language that microcontroller executes one after another. Chapter 2 deals with the structure of BASIC program in details. Compiler is a program run on computer and its task is to translate the original BASIC code into language of zeros and ones that can be fed to microcontroller. The process of translation of BASIC program into executive HEX code is shown in the figure below. The program written in BASIC and saved as file program.pbas is converted by compiler into assembly code (program.asm). The generated assembly code is further translated into executive HEX code which can be written to microcontroller memory. Programmer is a device which we use to transfer our HEX files from computer to microcontroller memory.
- 5. 5 1.1 Why BASIC? Originally devised as an easy-to-use tool, BASIC became widespread on home microcomputers in the 1980s, and remains popular to this day in a handful of heavily evolved dialects. BASIC’s name, coined in classic, computer science tradition to produce a nice acronym, stands for Beginner’s All-purpose Symbolic Instruction Code.
- 6. 6 BASIC is still considered by many PC users to be the easiest programming language to use. Nowadays, this reputation is being shifted to the world of microcontrollers. BASIC allows faster and much easier development of applications for PIC compared to the Microchip’s assembly language MPASM. When writing the code for MCUs, programmers frequently deal with the same issues, such as serial communication, printing on LCD display, generating PWM signals, etc. For the purpose of facilitating programming, BASIC provides a number of built-in and library routines intended for solving these problems. As far as the execution and program size are in question, MPASM has a small advantage in respect with BASIC. This is why there is an option of combining BASIC and assembly code — assembly is commonly used for parts of program in which execution time is critical or same commands are executed great number of times. Modern microcontrollers, such as PIC, execute instructions in a single cycle. If microcontroller clock is 4MHz, then one assembly instruction requires 250ns x 4 = 1us. As each BASIC command is technically a sequence of assembly instructions, the exact time necessary for its execution can be calculated by simply summing up the execution times of constituent assembly instructions. 1.2 Choosing the right PIC for the task Currently, the best choice for application development using BASIC are: the famous PIC16F84, PIC16F87x, PIC16F62x, PIC18Fxxx. These controllers have program memory built on FLASH technology which provides fast erasing and reprogramming, thus allowing fast debugging. By a single mouse click in the programming software, microcontroller program can be instantly erased and then reloaded without removing chip from device. Also, program loaded in FLASH memory can be stored after the power is off. Beside FLASH memory, microcontrollers of PIC16F87x and PIC16F84 series also contain 64-256 bytes of internal EEPROM memory, which can be used for storing program data and other parameters when power is off. BASIC features built-in EEPROM_Read and EEPROM_Write instructions that can be used for loading and saving data to EEPROM. Older PIC microcontroller families (12C67x, 14C000, 16C55x, 16C6xx, 16C7xx, and 16C92x) have program memory built on EPROM/ROM technology, so they can either be programmed only once (OTP version with ROM memory) or have a glass window (JW version with EPROM memory) which allows erasing by few minutes exposure to UV light. OTP versions are usually cheaper and are a natural choice for manufacturing large series of products. In order to have complete information about specific microcontroller in the application, you should get the appropriate Data Sheet or Microchip CD-ROM. The program examples worked out throughout the book are mostly to be run on the microcontrollers PIC16F84 or PIC6F877, but with minor adjustments, can be run on any other PIC microcontroller.
- 7. 7 1.3 A word about code writing Technically, any text editor that can save program file as pure ASCII text (without special symbols for formatting) can be used for writing your BASIC code. Still, there is no need to do it “by hand” — there are specialized environments that take care of the code syntax, free the memory and provide all the necessary tools for writing a program. mikroBasic IDE includes highly adaptable Code Editor, fashioned to satisfy needs of both novice users and experienced programmers. Syntax Highlighting, Code Templates, Code & Parameter Assistant, Auto Correct for common typos, and other features provide comfortable environment for writing a program. If you had no previous experience with advanced IDEs, you may wonder what Code and Parameter Assistants do. These are utilities which facilitate the code writing. For example, if you type first few letter of a word in Code Editor and then press CTRL+SPACE, all valid identifiers matching the letters you typed will be prompted to you in a floating panel. Now you can keep typing to narrow the choice, or you can select one from the list using keyboard arrows and Enter. In combination with comprehensive help, integrated tools, extensive libraries, and Code Explorer which allows you to easily monitor program items, all the necessary tools are at hand. 1.4 Writing and compiling your program The first step is to write our code. Every source file is saved in a single text file with extension .pbas. Here is an example of one simple BASIC program, blink.pbas. program LED_Blink main: TRISB = 0 ' Configure pins of PORTB as output eloop: PORTB = $FF ' Turn on diodes on PORTB Delay_ms(1000) ' Wait 1 second PORTB = 0 ' Turn off diodes on PORTB Delay_ms(1000) ' Wait 1 second goto eloop ' Stay in loop end. When the program is completed and saved as .pbas file, it can be compiled by clicking on Compile Icon (or just hit CTRL+F9) in mikroBasic IDE. The compiling procedure takes place in two consecutive steps: 1. Compilerwillconvert .pbas file toassemblycode andsave itas blink.asm file. 2. Then,compilerautomaticallycallsassembly,whichconverts .asm file intoexecutableHEX code readyfor feedingtomicrocontroller.
- 8. 8 You cannot actually make the difference between the two steps, as the process is completely automated and indivisible. In case of syntax error in program code, program will not be compiled and HEX file will not be generated. Errors need to be corrected in the original .pbas file and then the source file may be compiled again. The best approach is to write and test small, logical parts of the program to make debugging easier. 1.5 Loading program to microcontroller As a result of successful compiling of our previous code, mikroBasic will generate following files: blink.asm- assemblyfile blink.lst- programlisting blink.mcl - mikrocompile library blink.hex- executable filewhichiswrittenintothe programmingmemory MCL file (mikro compile library) is created for each module you have included in the project. In the process of compiling, .mcl files will be linked together to output asm, lst and hex files. If you want to distribute your module without disclosing the source code, you can send your compiled library (file extension .mcl). User will be able to use your library as if he had the source code. Although the compiler is able to determine which routines are implemented in the library, it is a common practice to provide routine prototypes in a separate text file. HEX file is the one you need to program the microcontroller. Commonly, generated HEX will be standard 8-bit Merged Intel HEX format, accepted by the vast majority of the programming software. The programming device (programmer) with accessory software installed on PC is in charge of writing the physical contents of HEX file into the internal memory of a microcontroller. The contents of a file blink.hex is given below: :100000000428FF3FFF3FFF3F031383168601FF30A5 :10001000831286000630F000FF30F100FF30F2005E :10002000F00B13281A28F10B16281928F20B1628A2 :10003000132810281A30F000FF30F100F00B2128AF :100040002428F10B21281E284230F000F00B26282E :1000500086010630F000FF30F100FF30F200F00BB7 :1000600032283928F10B35283828F20B3528322868 :100070002F281A30F000FF30F100F00B4028432801 :10008000F10B40283D284230F000F00B45280428B1 :100090004828FF3FFF3FFF3FFF3FFF3FFF3FFF3F3E :02400E007A3FF7 :00000001FF Beside loading a program code into programming memory, programmer also configures the target microcontroller, including the type of oscillator, protection of memory against reading, watchdog timer, etc. The following figure shows the connection between PC, programming device and the MCU.
- 9. 9 Note that the programming software should be used only for the communication with the programming device — it is not suitable for code writing. 1.6 Running the program For proper functioning of microcontroller, it is necessary to provide power supply, oscillator, and a reset circuit. The supply can be set with the simple rectifier with Gretz junction and LM7805 circuit as shown in the figure below. Oscillator can be 4MHz crystal and either two 22pF capacitors or the ceramic resonator of the same frequency (ceramic resonator already contains the mentioned capacitors, but unlike oscillator has three termination instead of only two). The rate at which the microcontroller operates, i.e. the speed at which the program runs, depends heavily on the oscillator frequency. During the application development, the easiest thing to do is to use the internal reset circuit — MCLR pin is connected to +5V through a 10K resistor. Below is the scheme of a rectifier with LM7805 circuit which gives the output of stable +5V, and the minimal configuration relevant for the operation of a PIC microcontroller.
- 10. 10 After the supply is brought to the circuit previously shown, PIC microcontroller should look animated, and the LED diode should blink once every second. If the signal is completely missing (LED diode does not blink), then check if +5V is present at all the relevant pins of PIC. 1.7 Troubleshooting There are several commonly encountered problems of bringing PIC microcontroller to working conditions. You need to check a few external components and test whether their values correspond to the desired ones, and finally to see whether all the connections are done right. We will present a few notes you may find useful. Checkwhetherthe MCLR pinisconnectedto +5V, overresetcircuit,orsimplywith10K resistor.If the pinremainsdisconnected,itslevelwillbe “floating”anditmay work sometimes,butitusuallywon’t.Chiphaspower-on-resetcircuit,sothe appropriate external pull-upresistoronMCLR pinshouldbe sufficient. Checkwhetherthe connectionwiththe resonatorisstable.FormostPICmicrocontrollersto beginwith4MHz resonatoriswell enough. Checkthe supply.PICmicrocontrollerconsumesverylittleenergybutthe supplyneedstobe well filtrated.Atthe rectifieroutput,the currentisdirectbutpulsating,andassuch isnot suitable forthe supplyof microcontroller.Toavoidthe pulsating,the electrolyticcapacitor of highcapacitance (e.g.470 mF) isplacedat the rectifieroutput. If PIC microcontrollersupervisesdevicesthatpull alotof energy,theymayprovoke enough malfunctioningonthe supplylinestocause the microcontrollerstartbehavingsomewhat strangely.Evenseven-segmentedLEDdisplaymaywell inducetensiondrops(the worst scenarioiswhenall the digitsare 8, whenLED displayneedsthe mostpower),if the source itself isnotcapable toprocure enoughcurrent(e.g.9V battery). Some PICmicrocontrollersfeature multi-functionalI/Opins,forexample PIC16C62x family (PIC16C620, 621 and 622). Controllersof thisfamilyare providedwithanalogcomparators on port A.Afterputtingthose chipstowork,port A issetto analogmode,whichbrings aboutthe unexpectedbehaviorof the pinfunctionsonthe port.Uponreset,anyPIC with analoginputswill showitself inanalogmode (if the same pinsare usedasdigital linesthey needtobe setto digital mode).One possible source of troublesisthatthe fourthpinof port A exhibitssingularbehaviorwhenitisusedasoutput,because the pinhasopencollectors
- 11. 11 outputinsteadof usual bipolarstate.Thisimpliesthatclearingthispinwillneverthelessset it to lowlevel,while settingthe pinwillletitfloatsomewhereinbetween,insteadof setting it to highlevel.Tomake the pin behave asexpected,the pull-upresistorwasplaced betweenRA4and5V. Itsmagnitude isbetween4.7Kand10K, dependingonthe current necessaryforthe input.Inthisway,the pinfunctionsasanyotherinputpin(all pinsare outputafterreset). More problems are to be expected if you plan to be seriously working with PIC. Sometimes the thing seems like it is going to work, but it just won’t, regardless of the effort. Just remember that there is always more than one way to solve the problem, and that a different approach may bring solution.
- 12. 12 Chapter 2: Elements ofBASIC Language Introduction 2.1 Identifiers 2.2 Operators 2.3 Expressions 2.4 Instructions 2.5 Data Types 2.6 Constants 2.7 Variables 2.8 Symbols 2.9 Directives 2.10 Comments 2.11 Labels 2.12 ProceduresandFunctions 2.13 Modules Introduction This chapter deals with the elements of BASIC language and the ways to use them efficiently. Learning how to program is not complicated, but it requires skill and experience to write code that is efficient, legible, and easy to handle. First of all, program is supposed to be comprehensible, so that the programmer himself, or somebody else working on the application, could make necessary corrections and improvements. We have provided a code sample written in a clear and manifest way to give you an idea how programs could be written: '************************************************************************** **** ' microcontroller : P16F877A ' ' Project: Led_blinking ' This project is designed to work with PIC 16F877A; ' with minor adjustments, it should work with any other PIC MCU. ' ' The code demonstrates blinking of diodes connected to PORTB. ' Diodes go on and off each second. '************************************************************************** **** program LED_Blinking main: ' Beginning of program TRISB = 0 ' Configure pins of PORTB as output PORTB = %11111111 ' Turn ON diodes on PORTB Delay_ms(1000) ' Wait for 1 second PORTB = %00000000 ' Turn OFF diodes on PORTB Delay_ms(1000) ' Wait for 1 second goto main ' Endless loop end. ' End of program
- 13. 13 Through clever use of comments, symbols, labels and other elements supported by BASIC, program can be rendered considerably clearer and more understandable, offering programmer a great deal of help. Also, it is advisable to divide larger programs into separate logical entities (such as routines and modules, see below) which can be addressed when needed. This also increases reusability of code. Names of routines and labels indicating a program segment should make some obvious sense. For example, program segment that swaps values of 2 variables, could be named "Swap", etc. 2.1 Identifiers Identifiers are names used for referencing the stored values, such as variables and constants. Every program, module, procedure, and function must be identified (hence the term) by an identifier. Valid identifier: 1. Must beginwitha letterof Englishalphabetorpossiblythe underscore (_) 2. Consistsof alphanumericcharactersandthe underscore (_) 3. May notcontainspecial characters: ~ ! @ # $ % ^ & * ( ) + ` - = { } [ ] : " ; ' < > ? , . / | 4. Can be writteninmixedcase asBASICis case insensitive;e.g. First,FIRST, and fIrST are an equivalentidentifier. Elements ignored by the compiler include spaces, new lines, and tabs. All these elements are collectively known as the “white space”. White space serves only to make the code more legible – it does not affect the actual compiling. Several identifiers are reserved in BASIC, meaning that you cannot use them as your own identifiers (e.g. words function, byte, if, etc). For more information, please refer to the list of reserved words. Also, BASIC has a number of predefined identifiers which are listed in Chapter 4: Instructions. 2.2 Operators BASIC language possesses set of operators which is used to assign values, compare values, and perform other operations. The objects manipulated for that purpose are called operands (which themselves can be variables, constants, or other elements). Operators in BASIC must have at least two operands, with an exception of two unary operators. They serve to create expressions and instructions that in effect compose the program.
- 14. 14 There are four types of operators in BASIC: 1. ArithmeticOperators 2. BooleanOperators 3. Logical (Bitwise)Operators 4. RelationOperators(ComparisonOperators) Operators are covered in detail in chapter 3. 2.3 Expressions Expression is a construction that returns a value. BASIC syntax restricts you to single line expressions, where carriage return character marks the end of the expression. The simplest expressions are variables and constants, while more complex can be constructed from simpler ones using operators, function calls, indexes, and typecasts. Here is one simple expression: A = B + C ' This expression sums up the values of variables B and C ' and stores the result into variable A. You need to pay attention that the sum must be within the range of variable A in order to avoid the overflow and therefore the evident computational error. If the result of the expression amounts to 428, and the variable A is of byte type (having range between 0 and 255), the result accordingly obtained will be 172, which is obviously wrong. 2.4 Instructions Each instruction determines an action to be performed. As a rule, instructions are being executed in an exact order in which they are written in the program. However, the order of their execution can be changed by means of jump, routine call, or an interrupt. if Time = 60 then goto Minute ' If variable Time equals 60 jump to label Minute end if Instruction if..then contains the conducting expression Time = 60 composed of two operands, variable Time, constant 60 and the comparison operator (=). Generally, instructions may be divided into conditional instructions (decision making), loops (repeating blocks), jumps, and specific built-in instructions (e.g. for accessing the peripherals of microcontroller). Instruction set is explained in detail in Chapter 4: Instructions.
- 15. 15 2.5 Data Types Type determines the allowed range of values for variable, and which operations may be performed on it. It also determines the amount of memory used for one instance of that variable. Simple data types include: Type Size Range of values byte 8-bit 0 ..255 char* 8-bit 0 ..255 word 16-bit 0 ..65535 short 8-bit -128 .. 127 integer 16-bit -32768 .. 32767 longint 32-bit -2147483648 .. 2147483647 * char type can be treated as byte type in every aspect Structured types include: Array, which represent an indexed collection of elements of the same type, often called the base type. Base type can be any simple type. String represents a sequence of characters. It is an array that holds characters and the first element of string holds the number of characters (max number is 255). Sign is important attribute of data types, and affects the way variable is treated by the compiler. Unsigned can hold only positive numbers: byte 0 .. 255 word 0 .. 65535 Signed can hold both positive and negative numbers: short -128 .. 127 integer -32768 .. 32767 longint -2147483648 .. 214748364
- 16. 16 2.6 Constants Constant is data whose value cannot be changed during the runtime. Every constant is declared under unique name which must be a valid identifier. It is a good practice to write constant names in uppercase. If you frequently use the same fixed value throughout the program, you should declare it a constant (for example, maximum number allowed is 1000). This is a good practice since the value can be changed simply by modifying the declaration, instead of going trough the entire program and adjusting each instance manually. As simple as this: const MAX = 1000 Constants can be declared in decimal, hex, or binary form. Decimal constants are written without any prefix. Hexadecimal constants begin with a sign $, while binary begin with %. const A = 56 ' 56 decimal const B = $0F ' 15 hexadecimal const C = %10001100 ' 140 binary It is important to understand why constants should be used and how this affects the MCU. Using a constant in a program consumes no RAM memory. This is very important due to the limited RAM space (PIC16F877 has 368 locations/bytes). 2.7 Variables Variable is data whose value can be changed during the runtime. Each variable is declared under unique name which has to be a valid identifier. This name is used for accessing the memory location occupied by the variable. Variable can be seen as a container for data and because it is typed, it instructs the compiler how to interpret the data it holds. In BASIC, variable needs to be declared before it can be used. Specifying a data type for each variable is mandatory. Variable is declared like this: dim identifier as type where identifier is any valid identifier and type can be any given data type. For example: dim temperature as byte ' Declare variable temperature of byte type dim voltage as word ' Declare variable voltage of word type Individual bits of byte variables (including SFR registers such as PORTA, etc) can be accessed by means of dot, both on left and right side of the expression. For example: Data_Port.3 = 1 ' Set third bit of byte variable Data_Port
- 17. 17 2.8 Symbols Symbol makes possible to replace a certain expression with a single identifier alias. Use of symbols can increase readability of code. BASIC syntax restricts you to single line expressions, allowing shortcuts for constants, simple statements, function calls, etc. Scope of symbol identifier is a whole source file in which it is declared. For example: symbol MaxAllowed = 234 ' Symbol as alias for numeric value symbol PORT = PORTC ' Symbol as alias for Special Function Register symbol DELAY1S = Delay_ms(1000) ' Symbol as alias for procedure call ... if teA > MaxAllowed then teA = teA - 100 end if PORT.1 = 0 DELAY1S ... Note that using a symbol in a program technically consumes no RAM memory – compiler simply replaces each instance of a symbol with the appropriate code from the declaration. 2.9 Directives Directives are words of special significance for BASIC, but unlike other reserved words, appear only in contexts where user-defined identifiers cannot occur. You cannot define an identifier that looks exactly like a directive. Directive Meaning Absolute specifyexactlocationof variable inRAM Org specifyexactlocationof routine inROM Absolute specifies the starting address in RAM for variable (if variable is multi-byte, higher bytes are stored at consecutive locations). Directive absolute is appended to the declaration of variable: dim rem as byte absolute $22
- 18. 18 ' Variable will occupy 1 byte at address $22 dim dot as word absolute $23 ' Variable will occupy 2 bytes at addresses $23 and $24 Org specifies the starting address of routine in ROM. For PIC16 family, routine must fit in one page – otherwise, compiler will report an error. Directive org is appended to the declaration of routine: sub procedure test org $200 ' Procedure will start at address $200 ... end sub 2.10 Comments Comments are text that is added to the code for purpose of description or clarification, and are completely ignored by the compiler. ' Any text between an apostrophe and the end of the ' line constitutes a comment. May span one line only. It is a good practice to comment your code, so that you or anybody else can later reuse it. On the other hand, it is often useful to comment out a troublesome part of the code, so it could be repaired or modified later. Comments should give purposeful information on what the program is doing. Comment such as Set Pin0 simply explains the syntax but fails to state the purpose of instruction. Something like Turn Relay on might prove to be much more useful. Specialized editors feature syntax highlighting – it is easy to distinguish comments from code due to different color, and comments are usually italicized. 2.11 Labels Labels represent the most direct way of controlling the program flow. When you mark a certain program line with label, you can jump to that line by means of instructions goto and gosub. It is convenient to think of labels as bookmarks of sort. Note that the label main must be declared in every BASIC program because it marks the beginning of the main module. Label name needs to be a valid identifier. You cannot declare two labels with same name within the same routine. The scope of label (label visibility) is tied to the routine where it is declared. This ensures that goto cannot be used for jumping between routines. Goto is an unconditional jump statement. It jumps to the specified label and the program execution continues normally from that point on.
- 19. 19 Gosub is a jump statement similar to goto, except it is tied to a matching word return. Upon jumping to a specified label, previous address is saved on the stack. Program will continue executing normally from the label, until it reaches return statement – this will exit the subroutine and return to the first program line following the caller gosub instruction. Here is a simple example: program test main: ' some instructions... ' simple endless loop using a label my_loop: ' some instructions... ' now jump back to label _loop goto my_loop end. Note: Although it might seem like a good idea to beginners to program by means of jumps and labels, you should try not to depend on it. This way of thinking strays from the procedural programming and can teach you bad programming habits. It is far better to use procedures and functions where applicable, making the code structure more legible and easier to maintain. 2.12 Procedures and Functions Procedures and functions, referred to as routines, are self-contained statement blocks that can be called from different locations in a program. Function is a routine that returns a value upon execution. Procedure is a routine that does not return a value. Once routines have been defined, you can call them any number of times. Procedure is called upon to perform a certain task, while function is called to compute a certain value. Procedure declaration has the form: sub procedure procedureName(parameterList) localDeclarations statements end sub where procedureName is any valid identifier, statements is a sequence of statements that are executed upon the calling the procedure, and (parameterList), and localDeclarations are optional declaration of variables and/or constants.
- 20. 20 sub procedure pr1_procedure(dim par1 as byte, dim par2 as byte, dim byref vp1 as byte, dim byref vp2 as byte) dim locS as byte par1 = locS + par1 + par2 vp1 = par1 or par2 vp2 = locS xor par1 end sub par1 and par2 are passed to the procedure by the value, but variables marked by keyword byref are passed by the address. This means that the procedure call pr1_procedure(tA, tB, tC, tD) passes tA and tB by the value: creates par1 = tA; and par2 = tB; then manipulates par1 and par2 so that tA and tB remain unchanged; passes tC and tD by the address: whatever changes are made upon vp1 and vp2 are also made upon tC and tD. Function declaration is similar to procedure declaration, except it has a specified return type and a return value. Function declaration has the form: sub function functionName(parameterList) as returnType localDeclarations statements end sub where functionName is any valid identifier, returnType is any simple type, statements is a sequence of statements to be executed upon calling the function, and (parameterList), and localDeclarations are optional declaration of variables and/or constants. In BASIC, we use the keyword Result to assign return value of a function. For example: sub function Calc(dim par1 as byte, dim par2 as word) as word dim locS as word locS = par1 * (par2 + 1) Result = locS end sub As functions return values, function calls are technically expressions. For example, if you have defined a function called Calc, which collects two integer arguments and returns an integer, then the function call Calc(24, 47) is an integer expression. If I and J are integer variables, then I + Calc(J, 8) is also an integer expression.
- 21. 21 2.13 Modules Large programs can be divided into modules which allow easier maintenance of code. Each module is an actual file, which can be compiled separately; compiled modules are linked to create an application. Note that each source file must end with keyword end followed by a dot. Modules allow you to: 1. Breaklarge code intosegmentsthatcan be editedseparately, 2. Create librariesthatcanbe usedindifferentprograms, 3. Distribute librariestootherdeveloperswithoutdisclosingthe source code. In mikroBasic IDE, all source code including the main program is stored in .pbas files. Each project consists of a single project file, and one or more module files. To build a project, compiler needs either a source file or a compiled file for each module. Every BASIC application has one main module file and any number of additional module files. All source files have same extension (pbas). Main file is identified by keyword program at the beginning, while other files have keyword module instead. If you want to include a module, add the keyword include followed by a quoted name of the file. For example: program test_project include "math2.pbas" dim tA as word dim tB as word main: tA = sqrt(tb) end. Keyword include instructs the compiler which file to compile. The example above includes module math2.pbas in the program file. Obviously, routine sqrt used in the example is declared in module math2.pbas. If you want to distribute your module without disclosing the source code, you can send your compiled library (file extension .mcl). User will be able to use your library as if he had the source code. Although the compiler is able to determine which routines are implemented in the library, it is a common practice to provide routine prototypes in a separate text file. Module files should be organized in the following manner: module unit_name ' Module name include ... ' Include other modules if necessary symbol ... ' Symbols declaration const ... ' Constants declaration dim ... ' Variables declaration sub procedure procedure_name ' Procedures declaration
- 22. 22 ... end sub sub function function_name ' Functions declaration ... end sub end. ' End of module Note that there is no “body” section in the module – module files serve to declare functions, procedures, constants and global variables.
- 23. 23 Chapter 3: Operators Introduction 3.1 ArithmeticOperators 3.2 BooleanOperators 3.3 Logical (Bitwise)Operators 3.4 RelationOperators(ComparisonOperators) Introduction In complex expressions, operators with higher precedence are evaluated before the operators with lower precedence; operators of equal precedence are evaluated according to their position in the expression starting from the left. Operator Priority not first(highest) *, div,mod,and, <<, >> second +, -, or, xor third =, <>, <, >, <=, >= fourth(lowest) 3.1 Arithmetic Operators Overview of arithmetic operators in BASIC: Operator Operation Operand types Result type + addition byte,short, integer,words, longint byte,short, integer,words, longint - subtraction byte,short, integer,words, longint byte,short, integer,words, longint * multiplication byte,short, integer,words integer,words, long div division byte,short, byte,short,
- 24. 24 integer,words integer,words mod remainder byte,short, integer,words byte,short, integer,words A div B is the value of A divided by B rounded down to the nearest integer. The mod operator returns the remainder obtained by dividing its operands. In other words, X mod Y = X - (X div Y) * Y. If 0 (zero) is used explicitly as the second operand (i.e. X div 0), compiler will report an error and will not generate code. But in case of implicit division by zero : X div Y , where Y is 0 (zero), result will be the maximum value for the appropriate type (for example, if X and Y are words, the result will be $FFFF). If number is converted from less complex to more complex data type, upper bytes are filled with zeros. If number is converted from more complex to less complex data type, data is simply truncated (upper bytes are lost). If number is converted from less complex to more complex data type, upper bytes are filled with ones if sign bit equals 1 (number is negative). Upper bytes are filled with zeros if sign bit equals 0 (number is positive). If number is converted from more complex to less complex data type, data is simply truncated (upper bytes are lost). BASIC also has two unary arithmetic operators: Operator Operation Operand types Result type + (unary) signidentity short,integer, longint short,integer, longint - (unary) signnegation short,integer, longint short,integer, longint Unary arithmetic operators can be used to change sign of variables: a = 3 b = -a ' assign value -3 to b 3.2 Boolean Operators
- 25. 25 Boolean operators are not true operators, because there is no boolean data type defined in BASIC. These operators conform to standard Boolean logic. They cannot be used with any data type, but only to build complex conditional expression. Operator Operation not negation and conjunction or disjunction For example: if (astr > 10) and (astr < 20) then PORTB = 0xFF end if 3.3 Logical (Bitwise) Operators Overview of logical operators in BASIC: Operator Operation Operand types Result type not bitwise negation byte,word, short,integer, long byte,word, short,integer, long and bitwise and byte,word, short,integer, long byte,word, short,integer, long or bitwise or byte,word, short,integer, long byte,word, short,integer, long xor bitwise xor byte,word, short,integer, long byte,word, short,integer, long << bitshiftleft byte,word, short,integer, long byte,word, short,integer, long
- 26. 26 >> bitshiftright byte,word, short,integer, long byte,word, short,integer, long << : shift left the operand for a number of bit places specified in the right operand (must be positive and less then 255). >> : shift right the operand for a number of bit places specified in the right operand (must be positive and less then 255). For example, if you need to extract the higher byte, you can do it like this: dim temp as word main: TRISA = word(temp >> 8) end. 3.4 Relation Operators (Comparison Operators) Relation operators (Comparison operators) are commonly used in conditional and loop statements for controlling the program flow. Overview of relation operators in BASIC: Operator Operation Operand types Result type = equality All simple types True or False <> inequality All simple types True or False < less-than All simple types True or False > greater-than All simple types True or False <= less-than-or-equal- to All simple types True or False >= greater-than-or- equal-to All simple types True or False
- 27. 27 Chapter 4: Control Structures Introduction 4.1 Conditional Statements 4.1.1 IF..THEN Statement 4.1.2 SELECT..CASEStatement 4.1.3 GOTO Statement 4.2 Loops 4.2.1 FOR Statement 4.2.2 DO..LOOPStatement 4.2.3 WHILE Statement 4.3 ASMStatement Introduction Statements define algorithmic actions within a program. Simple statements - like assignments and procedure calls - can be combined to form loops, conditional statements, and other structured statements. Simple statement does not contain any other statements. Simple statements include assignments, and calls to procedures and functions. Structured statements are constructed from other statements. Use a structured statement when you want to execute other statements sequentially, conditionally, or repeatedly. 4.1 Conditional Statements Conditional statements are used for change the flow of the program execution upon meeting a certain condition. The BASIC instruction of branching in BASIC language is the IF instruction, with several variations that provide the necessary flexibility. 4.1.1 IF..THEN Statement – conditional programbranching Syntax if expression then statements1 [ else statements2 ] end if Description Instruction selects one of two possible program paths. Instruction IF..THEN is the fundamental instruction of program branching in PIC BASIC and it can be used in several ways to allow flexibility necessary for realization of decision making logic.
- 28. 28 Expression returns a True or False value. If expression is True, then statements1 are executed; otherwise statements2 are executed, if the else clause is present. Statements1 and statements2 can be statements of any type. Example The simplest form of the instruction is shown in the figure below. Our example tests the button connected to RB0 - when the button is pressed, program jumps to the label "Add" where value of variable "w" is increased. If the button is not pressed, program jumps back to the label "Main". dim j as byte Main: if PORTB.0 = 0 then goto Add end if goto Main Add: j = j + 1 end. More complex form of instruction is program branching with the ELSE clause:
- 29. 29 dim j as byte Main: if PORTB.0 = 0 then j = j + 1 else j = j - 1 endif goto Main end. 4.1.2 SELECT..CASE Statement – Conditionalmultipleprogrambranching Syntax select case Selector case Value_1 Statements_1 case Value_2 Statements_2 ... case Value_N Statements_n [ case else Statements_else ] end select Description Select Case statement is used for selecting one of several available branches in the program course. It consists of a selector variable as a switch condition, and a list of possible values. These values can be constants, numerals, or expressions. Eventually, there can be an else statement which is executed if none of the labels corresponds to the value of the selector.
- 30. 30 As soon as the Select Case statement is executed, at most one of the statements statements_1 .. statements_n will be executed. The Value which matches the Selector determines the statements to be executed. If none of the Value items matches the Selector, then the statements_else in the else clause (if there is one) are executed. Example select case W case 0 B = 1 PORTB = B case 1 A = 1 PORTA = A case else PORTB = 0 end select ... select case Ident case testA PORTB = 6 Res = T mod 23 case teB + teC T = 1313 case else T = 0 end select 4.1.3 GOTO Statement – Unconditional jumpto the specifiedlabel Syntax goto Label Description Goto statement jumps to the specified label unconditionally, and the program execution continues normally from that point on. Avoid using GOTO too often, because over-labeled programs tend to be less intelligible. Example program test main: ' some instructions ... goto myLabel ' some instructions... myLabel: ' some instructions... end.
- 31. 31 4.2 Loops Loop statements allow repeating one or more instructions for a number of times. The conducting expression determines the number of iterations loop will go through. 4.2.1 FOR Statement – Repeatingofa programsegment Syntax for counter = initialValue to finalValue [step step_value] statement_1 statement_2 ... statement_N next counter Description For statement requires you to specify the number of iterations you want the loop to go through. Counter is variable; initialValue and finalValue are expressions compatible with counter; statement is any statement that does not change the value of counter; step_value is value that is added to the counter in each iteration. Step_value is optional, and defaults to 1 if not stated otherwise. Be careful when using large values for step_value, as overflow may occur. Every statement between for and next will be executed once per iteration. Example Here is a simple example of a FOR loop used for emitting hex code on PORTB for 7-segment display with common cathode. Nine digits should be printed with one second delay. for i = 1 to 9 portb = i delay_ms(1000) next i 4.2.2 DO..LOOP Statement – Loopuntil conditionisfulfilled Syntax do statement_1 ... statement_N loop until expression Description Expression returns a True or False value. The do..loop statement executes statement_1; ...; statement_N continually, checking the expression after each iteration. Eventually, when expression returns True, the do..loop statement terminates. The sequence is executed at least once because the check takes place in the end.
- 32. 32 Example I = 0 do I = I + 1 ' execute these 2 statements PORTB = I ' until i equals 10 (ten) loop until I = 10 4.2.3 WHILE Statement – Loopwhileconditionisfulfilled Syntax while expression statement_0 statement_1 ... statement_N wend Description Expression is tested first. If it returns True, all the following statements enclosed by while and wend will be executed (or only one statement, alternatively). It will keep on executing statements until the expression returns False. Eventually, as expression returns False, while will be terminated without executing statements. While is similar to do..loop, except the check is performed at the beginning of the loop. If expression returns False upon first test, statements will not be executed. Example while I < 90 I = I + 1 wend ... while I > 0 I = I div 3 PORTA = I wend 4.3 ASM Statement – Embedsassemblyinstructionblock Syntax asm statementList end asm Description Sometimes it can be useful to write part of the program in assembly. ASM statement can be used to embed PIC assembly instructions into BASIC code. Note that you cannot use numerals as absolute addresses for SFR or GPR variables in assembly instructions. You may use symbolic names instead
- 33. 33 (listing will display these names as well as addresses). Be careful when embedding assembly code - BASIC will not check if assembly instruction changed memory locations already used by BASIC variables. Example asm movlw 67 movwf TMR0 end asm
- 34. 34 Chapter 5: Built-in and Library Routines Introduction 5.1 Built-inRoutines 5.1.1 SetBit 5.1.2 ClearBit 5.1.3 TestBit 5.1.4 Lo 5.1.5 Hi 5.1.6 Higher 5.1.7 Highest 5.1.8 Delay_us 5.1.9 Delay_ms 5.1.10 Inc 5.1.11 Dec 5.1.12 StrLen 5.2 Library Routines 5.2.1 Numeric Formatting 5.2.1.1 ByteToStr 5.2.1.2 WordToStr 5.2.1.3 ShortToStr 5.2.1.4 IntToStr 5.2.1.5 Bcd2Dec 5.2.1.6 Dec2Bcd 5.2.1.7 Bcd2Dec16 5.2.1.8 Dec2Bcd16 5.2.2 ADC Library 5.2.2.1 ADC_read 5.2.3 CAN Library 5.2.3.1 CANSetOperationMode 5.2.3.2 CANGetOperationMode 5.2.3.3 CANInitialize 5.2.3.4 CANSetBaudRate 5.2.3.5 CANSetMask 5.2.3.6 CANSetFilter 5.2.3.7 CANWrite 5.2.3.8 CANRead 5.2.3.9 CAN Library Constants 5.2.4 CANSPI Library 5.2.4.1 CANSPISetOperationMode 5.2.4.2 5.2.6 EEPROM Library 5.2.6.1 EEPROM_Read 5.2.6.2 EEPROM_Write 5.2.7 Flash Memory Library 5.2.7.1 Flash_Read 5.2.7.2 Flash_Write 5.2.8 I2C Library 5.2.8.1 I2C_Init 5.2.8.2 I2C_Start 5.2.8.3 I2C_Repeated_Start 5.2.8.4 I2C_Rd 5.2.8.5 I2C_Wr 5.2.8.6 I2C_Stop 5.2.9 LCD Library 5.2.9.1 LCD_Init 5.2.9.2 LCD_Config 5.2.9.3 LCD_Chr 5.2.9.4 LCD_Chr_CP 5.2.9.5 LCD_Out 5.2.9.6 LCD_Out_CP 5.2.9.7 LCD_Cmd 5.2.10 LCD8 Library 5.2.10.1 LCD8_Init 5.2.10.2 LCD8_Config 5.2.10.3 LCD8_Chr 5.2.10.4 LCD8_Chr_CP 5.2.10.5 LCD8_Out 5.2.10.6 LCD8_Out_CP 5.2.10.7 LCD8_Cmd 5.2.11 Graphic LCD Library 5.2.11.1 GLCD_Config 5.2.11.2 GLCD_Init 5.2.11.3 GLCD_Put_Ins 5.2.11.4 GLCD_Put_Data 5.2.11.5 GLCD_Put_Data2 5.2.11.6 GLCD_Select_Side 5.2.11.7 GLCD_Data_Read 5.2.11.8 5.2.13 PWMLibrary 5.2.13.1 PWM_Init 5.2.13.2 PWM_Change_Duty 5.2.13.3 PWM_Start 5.2.13.4 PWM_Stop 5.2.14 RS485 Library 5.2.14.1 RS485Master_Init 5.2.14.2 RS485Master_Read 5.2.14.3 RS485Master_Write 5.2.14.4 RS485Slave_Init 5.2.14.5 RS485Slave_Read 5.2.14.6 RS485Slave_Write 5.2.15 SPI Library 5.2.15.1 SPI_Init 5.2.15.2 SPI_Init_Advanced 5.2.15.3 SPI_Read 5.2.15.4 SPI_Write 5.2.16 USART Library 5.2.16.1 USART_Init 5.2.16.2 USART_Data_Ready 5.2.16.3 USART_Read 5.2.16.4 USART_Write 5.2.17 One-wire Library 5.2.17.1 OW_Reset 5.2.17.2 OW_Read 5.2.17.3 OW_Write 5.2.18 Software I2C Library 5.2.18.1 Soft_I2C_Config 5.2.18.2 Soft_I2C_Start 5.2.18.3 Soft_I2C_Write 5.2.18.4
- 35. 35 CANSPIGetOperationMode 5.2.4.3 CANSPIInitialize 5.2.4.4 CANSPISetBaudRate 5.2.4.5 CANSPISetMask 5.2.4.6 CANSPISetFilter 5.2.4.7 CANSPIWrite 5.2.4.8 CANSPIRead 5.2.4.9 CANSPILibrary Constants 5.2.5 Compact FlashLibrary 5.2.5.1 CF_Init_Port 5.2.5.2 CF_Detect 5.2.5.3 CF_Write_Init 5.2.5.4 CF_Write_Byte 5.2.5.5 CF_Write_Word 5.2.5.6 CF_Read_Init 5.2.5.7 CF_Read_Byte 5.2.5.8 CF_Read_Word 5.2.5.9 CF_File_Write_Init 5.2.5.10 CF_File_Write_Byte 5.2.5.11 CF_File_Write_Complete GLCD_Clear_Dot 5.2.11.9 GLCD_Set_Dot 5.2.11.10 GLCD_Circle 5.2.11.11 GLCD_Line 5.2.11.12 GLCD_Invert 5.2.11.13 GLCD_Goto_XY 5.2.11.14 GLCD_Put_Char 5.2.11.15 GLCD_Clear_Screen 5.2.11.16 GLCD_Put_Text 5.2.11.17 GLCD_Rectangle 5.2.11.18 GLCD_Set_Font 5.2.12 Manchester Code Library 5.2.12.1 Man_Receive_Init 5.2.12.2 Man_Receive_Config 5.2.12.3 Man_Receive 5.2.12.4 Man_Send_Init 5.2.12.5 Man_Send_Config 5.2.12.6 Man_Send Soft_I2C_Read 5.2.18.5 Soft_I2C_Stop 5.2.19 Software SPI Library 5.2.19.1 Soft_SPI_Config 5.2.19.2 Soft_SPI_Read 5.2.19.3 Soft_SPI_Write 5.2.20 Software UART Library 5.2.20.1 Soft_UART_Init 5.2.20.2 Soft_UART_Read 5.2.20.3 Soft_UART_Write 5.2.21 Sound Library 5.2.21.1 Sound_Init 5.2.21.2 Sound_Play 5.2.22 Trigonometry Library 5.2.22.1 SinE3 5.2.22.2 CosE3 5.2.23 Utilities 5.2.23.1 Button Introduction BASIC was designed with focus on simplicity of use. Great number of built-in and library routines are included to help you develop your applications quickly and easily. 5.1 Built-in Routines BASIC incorporates a set of built-in functions and procedures. They are provided to make writing programs faster and easier. You can call built-in functions and procedures in any part of the program.
- 36. 36 5.1.1 SetBit – Setsthe specifiedbit Prototype sub procedure SetBit(dim byref Reg as byte, dim Bit as byte) Description Sets<Bit> of register<Reg>.AnySFR (Special FunctionRegister) orvariable of byte type can pass as validvariable parameter,butconstantsshouldbe inrange [0..7]. Example SetBit(PORTB,2) ' set bit RB2 5.1.2 ClearBit – Clearsthespecifiedbit Prototype sub procedure ClearBit(dim byref Reg as byte, dim Bit as byte) Description Clears<Bit> of register<Reg>. AnySFR (Special FunctionRegister) orvariable of byte type can pass as validvariable parameter,butconstantsshouldbe inrange [0..7]. Example ClearBit(PORTC,7) ' clear bit RC7 5.1.3 TestBit – Teststhe specifiedbit Prototype sub function TestBit(dim byref Reg as byte, dim Bit as byte) as byte Description Tests<Bit> of register<Reg>.If set,returns1, otherwise 0.AnySFR(Special Function Register) orvariable of byte type canpass as validvariable parameter,butconstants shouldbe inrange [0..7]. Example TestBit(PORTA,2) ' returns 1 if PORTA bit RA2 is 1, returns 0 otherwise 5.1.4 Lo – Extractonebyte fromthe specifiedparameter Prototype sub function Lo(dim Par as byte..longint) as byte Description Returnsbyte 0 of <Par>, assumingthatword/integercomprisesbytes1and 0, and longintcomprisesbytes3,2,1, and 0. Example Lo(A) ' returns lower byte of variable A
- 37. 37 5.1.5 Hi – Extract onebyte fromthe specifiedparameter Prototype sub function Hi(dim arg as word..longint) as byte Description Returnsbyte 1 of <Par>, assumingthatword/integercomprisesbytes1and 0, and longintcomprisesbytes3,2,1, and 0. Example Hi(Aa) ' returns hi byte of variable Aa 5.1.6 Higher – Extract onebyte fromthe specifiedparameter Prototype sub function Higher(dim Par as longint) as byte Description Returnsbyte 2 of <Par>, assumingthatlongintcomprisesbytes3,2, 1, and0. Example Higher(Aaaa) ' returns byte next to the highest byte of variable Aaaa 5.1.7 Highest – Extract onebyte fromthe specifiedparameter Prototype sub function Highest(dim arg as longint) as byte Description Returnsbyte 3 of <Par>, assumingthatlongintcomprisesbytes3,2, 1, and0. Example Highest(Aaaa) ' returns the highest byte of variable Aaaa 5.1.8 Delay_us – Softwaredelayinus Prototype sub procedure Delay_us(const Count as word) Description Routine createsasoftware delayindurationof <Count>microseconds. Example Delay_us(100) ' creates software delay equal to 100 µs 5.1.9 Delay_ms – Softwaredelayinms Prototype sub procedure Delay_ms(const Count as word) Description Routine createsasoftware delayindurationof <Count>milliseconds.
- 38. 38 Example Delay_ms(1000) ' creates software delay equal to 1s 5.1.10 Inc – Increasesvariableby1 Prototype sub procedure Inc(byref Par as byte..longint) Description Routine increases<Par>byone. Example Inc(Aaaa) ' increments variable Aaaa by 1 5.1.11 Dec – Decreasesvariableby1 Prototype sub procedure Dec(byref Par as byte..longint) Description Routine decreases <Par>byone. Example Dec(Aaaa) ' decrements variable Aaaa by 1 5.1.12 StrLen – Returns lengthofstring Prototype sub function StrLen(dim Text as string) as byte Description Routine returnslengthof string <Text>as byte. Example StrLen(Text) ' returns string length as byte 5.2 Library Routines A comprehensive collection of functions and procedures is provided for simplifying the initialization and use of PIC MCU and its hardware modules. Routines currently includes libraries for ADC, I2C, USART, SPI, PWM, driver for LCD, drivers for internal and external CAN modules, flexible 485 protocol, numeric formatting routines… 5.2.1 Numeric Formatting Routines Numeric formatting routines convert byte, short, word, and integer to string. You can get text representation of numerical value by passing it to one of the routines listed below.
- 39. 39 5.2.1.1 ByteToStr – Convertsbyteto string Prototype sub procedure ByteToStr(dim input as byte, dim byref txt as char[6]) Description Parameter <input> represents numerical value of byte type that should be converted to string; parameter <txt> is passed by the address and contains the result of conversion. Parameter <txt> has to be of sufficient size to fit the converted string. Example ByteToStr(Counter, Message) ' Copies value of byte Counter into string Message 5.2.1.2 WordToStr – Convertswordto string Prototype sub procedure WordToStr(dim input as word, dim byref txt as char[6]) Description Parameter <input> represents numerical value of word type that should be converted to string; parameter <txt> is passed by the address and contains the result of conversion. Parameter <txt> has to be of sufficient size to fit the converted string. Example WordToStr(Counter, Message) ' Copies value of word Counter into string Message 5.2.1.3 ShortToStr – Convertsshortto string Prototype sub procedure ShortToStr(dim input as short, dim byref txt as char[6]) Description Parameter <input> represents numerical value of short type that should be converted to string; parameter <txt> is passed by the address and contains the result of conversion. Parameter <txt> has to be of sufficient size to fit the converted string. Example ShortToStr(Counter, Message) ' Copies value of short Counter into string Message 5.2.1.4 IntToStr – Convertsintegerto string Prototype sub procedure IntToStr(dim input as integer, dim byref txt as char[6]) Description Parameter <input> represents numerical value of integer type that should be
- 40. 40 converted to string; parameter <txt> is passed by the address and contains the result of conversion. Parameter <txt> has to be of sufficient size to fit the converted string. Example IntToStr(Counter, Message) ' Copies value of integer Counter into string Message 5.2.1.5 Bcd2Dec – Converts8-bitBCD valueto decimal Prototype sub procedure Bcd2Dec(dim bcd_num as byte) as byte Description Function converts 8-bit BCD numeral to its decimal equivalent and returns the result as byte. Example dim a as byte dim b as byte ... a = 140 b = Bcd2Dec(a) ' b equals 224 now 5.2.1.6 Bcd2Dec – Converts8-bitdecimal to BCD Prototype sub procedure Dec2Bcd(dim dec_num as byte) as byte Description Function converts 8-bit decimal numeral to BCD and returns the result as byte. Example dim a as byte dim b as byte ... a = 224 b = Dec2Bcd(a) ' b equals 140 now 5.2.1.7 Bcd2Dec – Converts16-bitBCD valueto decimal Prototype sub procedure Bcd2Dec16(dim bcd_num as word) as word Description Function converts 16-bit BCD numeral to its decimal equivalent and returns the result as byte. Example dim a as word dim b as word ... a = 1234 b = Bcd2Dec16(a) ' b equals 4660 now
- 41. 41 5.2.1.8 Bcd2Dec – Converts16-bitBCD valueto decimal Prototype sub procedure Dec2Bcd16(dim dec_num as word) as word Description Function converts 16-bit decimal numeral to BCD and returns the result as word. Example dim a as word dim b as word ... a = 4660 b = Dec2Bcd16(a) ' b equals 1234 now 5.2.2 ADC Library ADC (Analog to Digital Converter) module is available with a number of PIC MCU models. Library function ADC_Read is included to provide you comfortable work with the module. The function is currently unsupported by the following PIC MCU models: P18F2331, P18F2431, P18F4331, and P18F4431. 5.2.2.1 ADC_Read – Get the resultsofAD conversion Prototype sub function ADC_Read(dim Channel as byte) as word Description Routine initializesADCmoduletoworkwithRCclock. Clockdeterminesthe time periodnecessaryforperformingADconversion(min12TAD).RC sourcestypically have Tad 4uS. Parameter<Channel>determineswhichchannelwillbe sampled.Refer to the device datasheetforinformationondevice channels. Example res = ADC_Read(2) ' reads channel 2 and stores value in variable res
- 42. 42 ADC HW connection 5.2.3 CAN Library The Controller Area Network module (CAN) is serial interface, used for communicating with other peripherals or microcontrollers. CAN module is available with a number of PIC MCU models. BASIC includes a set of library routines to provide you comfortable work with the module. More details about CAN can be found in appropriate literature and on mikroElektronika Web site. 5.2.3.1 CANSetOperationMode– SetsCANto requestedmode Prototype sub procedure CANSetOperationMode(dim Mode as byte, dim Wait as byte) Description The procedure copies <Mode> to CANSTAT and sets CAN to requested mode. Operation <Mode> code can take any of predefined constant values. <Wait> takes values TRUE(255) or FALSE(0) If Wait is true, this is a blocking call. It won't return until requested mode is set. If Wait is false, this is a non-blocking call. It does not verify if CAN module is switched to requested mode or not. Caller must use CANGetOperationMode() to verify correct operation mode before performing mode specific operation. Example CANSetOperationMode(CAN_MODE_LISTEN, TRUE) ' Sets CAN to Listen mode
- 43. 43 5.2.3.2 CANGetOperationMode– Returnsthe currentoperationmodeofCAN Prototype sub function CANGetOperationMode as byte Description The functionreturnsthe currentoperationmode of CAN. Example CANGetOperationMode 5.2.3.3 CANInitialize– InitializesCAN Prototype sub procedure CANInitialize(dim SJW as byte, dim BRP as byte, dim PHSEG1 as byte, dim PHSEG2 as byte, dim PROPSEG as byte, dim CAN_CONFIG_FLAGS as byte) Description The procedure initializes CAN module. CAN must be in Configuration mode or else these values will be ignored. Parameters: SJW value as defined in 18XXX8 datasheet (must be between 1 thru 4) BRP value as defined in 18XXX8 datasheet (must be between 1 thru 64) PHSEG1 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PHSEG2 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PROPSEG value as defined in 18XXX8 datasheet (must be between 1 thru 8) CAN_CONFIG_FLAGS value is formed from constants (see below) Output: CAN bit rate is set. All masks registers are set to '0' to allow all messages. Filter registers are set according to flag value: If (CAN_CONFIG_FLAGS and CAN_CONFIG_VALID_XTD_MSG) <> 0 Set all filters to XTD_MSG Else if (config and CONFIG_VALID_STD_MSG) <> 0 Set all filters to STD_MSG Else Set half of the filters to STD, and the rest to XTD_MSG Side Effects: All pending transmissions are aborted. Example dim aa as byte aa = CAN_CONFIG_SAMPLE_THRICE and ' form value to be used CAN_CONFIG_PHSEG2_PRG_ON and ' with CANInitialize CAN_CONFIG_STD_MSG and CAN_CONFIG_DBL_BUFFER_ON and CAN_CONFIG_VALID_XTD_MSG and CAN_CONFIG_LINE_FILTER_OFF CANInitialize(1, 1, 3, 3, 1, aa)
- 44. 44 5.2.3.4 CANSetBaudRate– Sets CANBaudRate Prototype sub procedure CANSetBaudRate(dim SJW as byte, dim BRP as byte, dim PHSEG1 as byte, dim PHSEG2 as byte, dim PROPSEG as byte, dim CAN_CONFIG_FLAGS as byte) Description The procedure sets CAN Baud Rate. CAN must be in Configuration mode or else these values will be ignored. Parameters: SJW value as defined in 18XXX8 datasheet (must be between 1 thru 4) BRP value as defined in 18XXX8 datasheet (must be between 1 thru 64) PHSEG1 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PHSEG2 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PROPSEG value as defined in 18XXX8 datasheet (must be between 1 thru 8) CAN_CONFIG_FLAGS - Value formed from constants (see section below) Output: Given values are bit adjusted to fit in 18XXX8 and BRGCONx registers and copied. CAN bit rate is set as per given values. Example CANSetBaudRate(1, 1, 3, 3, 1, aa) 5.2.3.5 CANSetMask– Sets the CANmessagemask Prototype sub procedure CANSetMask(CAN_MASK as byte, val as longint, dim CAN_CONFIG_FLAGS as byte) Description The procedure sets the CAN message mask. CAN must be in Configuration mode. If not, all values will be ignored. Parameters: CAN_MASK - One of predefined constant value val - Actual mask register value CAN_CONFIG_FLAGS - Type of message to filter, either CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG Output: Given value is bit adjusted to appropriate buffer mask registers. Example CANSetMask(CAN_MASK_B2, -1, CAN_CONFIG_XTD_MSG) 5.2.3.6 CANSetFilter – Sets the CANmessagefilter Prototype sub procedure CANSetFilter(dim CAN_FILTER as byte, dim val as longint, dim CAN_CONFIG_FLAGS as byte)
- 45. 45 Description The procedure sets the CAN message filter. CAN must be in Configuration mode. If not, all values will be ignored. Parameters: CAN_FILTER - One of predefined constant values val - Actual filter register value. CAN_CONFIG_FLAGS - Type of message to filter, either CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG Output: Given value is bit adjusted to appropriate buffer filter registers Example CANSetFilter(CAN_FILTER_B1_F1, 3, CAN_CONFIG_XTD_MSG) 5.2.3.7 CANWrite– Queuesmessagefortransmission Prototype sub function CANWrite(dim id as longint, dim byref Data : as byte[8], dim DataLen as byte, dim CAN_TX_MSG_FLAGS as byte) as byte Description If at least one empty transmit buffer is found, given message is queued for the transmission. If none found, FALSE value is returned. CAN must be in Normal mode. Parameters: id - CAN message identifier. Only 11 or 29 bits may be used depending on message type (standard or extended) Data - array of bytes up to 8 bytes in length DataLen - Data length from 1 thru 8 CAN_TX_MSG_FLAGS - Value formed from constants (see section below) Example aa1 = CAN_TX_PRIORITY_0 and ' form value to be used CAN_TX_XTD_FRAME and ' with CANWrite CAN_TX_NO_RTR_FRAME CANWrite(-1, data, 1, aa1) 5.2.3.8 CANRead – Extractsand readsthe message Prototype sub function CANRead(dim byref id as longint, dim byref Data as byte[8], dim byref DataLen as byte, dim byref CAN_RX_MSG_FLAGS as byte) as byte Description If at least one full receive buffer is found, the function extracts and returns the message as byte. If none found, FALSE value is returned. CAN must be in mode in which receiving is possible. Parameters:
- 46. 46 id - CAN message identifier Data - array of bytes up to 8 bytes in length DataLen - Data length from 1 thru 8 CAN_TX_MSG_FLAGS - Value formed from constants (see below) Example res = CANRead(id, Data, 7, 0) 5.2.3.9 CANLibraryConstants You need to be familiar with constants that are provided for use with the CAN module. All of the following constants are predefined in CAN library. CAN_OP_MODE These constant values define CAN module operation mode. CANSetOperationMode() routine requires this code. These values must be used by itself, i.e. they cannot be ANDed to form multiple values. const CAN_MODE_BITS = $E0 ' Use these to access opmode bits const CAN_MODE_NORMAL = 0 const CAN_MODE_SLEEP = $20 const CAN_MODE_LOOP = $40 const CAN_MODE_LISTEN = $60 const CAN_MODE_CONFIG = $80 CAN_TX_MSG_FLAGS These constant values define flags related to transmission of a CAN message. There could be more than one this flag ANDed together to form multiple flags. const CAN_TX_PRIORITY_BITS = $03 const CAN_TX_PRIORITY_0 = $FC ' XXXXXX00 const CAN_TX_PRIORITY_1 = $FD ' XXXXXX01 const CAN_TX_PRIORITY_2 = $FE ' XXXXXX10 const CAN_TX_PRIORITY_3 = $FF ' XXXXXX11 const CAN_TX_FRAME_BIT = $08 const CAN_TX_STD_FRAME = $FF ' XXXXX1XX const CAN_TX_XTD_FRAME = $F7 ' XXXXX0XX const CAN_TX_RTR_BIT = $40 const CAN_TX_NO_RTR_FRAME = $FF ' X1XXXXXX const CAN_TX_RTR_FRAME = $BF ' X0XXXXXX CAN_RX_MSG_FLAGS These constant values define flags related to reception of a CAN message. There could be more than one this flag ANDed together to form multiple flags. If a particular bit is set; corresponding meaning is TRUE or else it will be FALSE.
- 47. 47 e.g. if (MsgFlag and CAN_RX_OVERFLOW) <> 0 then ' Receiver overflow has occurred. ' We have lost our previous message. const CAN_RX_FILTER_BITS = $07 ' Use these to access filter bits const CAN_RX_FILTER_1 = $00 const CAN_RX_FILTER_2 = $01 const CAN_RX_FILTER_3 = $02 const CAN_RX_FILTER_4 = $03 const CAN_RX_FILTER_5 = $04 const CAN_RX_FILTER_6 = $05 const CAN_RX_OVERFLOW = $08 ' Set if Overflowed else cleared const CAN_RX_INVALID_MSG = $10 ' Set if invalid else cleared const CAN_RX_XTD_FRAME = $20 ' Set if XTD message else cleared const CAN_RX_RTR_FRAME = $40 ' Set if RTR message else cleared const CAN_RX_DBL_BUFFERED = $80 ' Set if this message was hardware double- buffered CAN_MASK These constant values define mask codes. Routine CANSetMask()requires this code as one of its arguments. These enumerations must be used by itself i.e. it cannot be ANDed to form multiple values. const CAN_MASK_B1 = 0 const CAN_MASK_B2 = 1 CAN_FILTER These constant values define filter codes. Routine CANSetFilter() requires this code as one of its arguments. These enumerations must be used by itself, i.e. it cannot be ANDed to form multiple values. const CAN_FILTER_B1_F1 = 0 const CAN_FILTER_B1_F2 = 1 const CAN_FILTER_B2_F1 = 2 const CAN_FILTER_B2_F2 = 3 const CAN_FILTER_B2_F3 = 4 const CAN_FILTER_B2_F4 = 5 CAN_CONFIG_FLAGS These constant values define flags related to configuring CAN module. Routines CANInitialize() and CANSetBaudRate() use these codes. One or more these values may be ANDed to form multiple flags const CAN_CONFIG_DEFAULT = $FF ' 11111111 const CAN_CONFIG_PHSEG2_PRG_BIT = $01 const CAN_CONFIG_PHSEG2_PRG_ON = $FF ' XXXXXXX1
- 48. 48 const CAN_CONFIG_PHSEG2_PRG_OFF = $FE ' XXXXXXX0 const CAN_CONFIG_LINE_FILTER_BIT = $02 const CAN_CONFIG_LINE_FILTER_ON = $FF ' XXXXXX1X const CAN_CONFIG_LINE_FILTER_OFF = $FD ' XXXXXX0X const CAN_CONFIG_SAMPLE_BIT = $04 const CAN_CONFIG_SAMPLE_ONCE = $FF ' XXXXX1XX const CAN_CONFIG_SAMPLE_THRICE = $FB ' XXXXX0XX const CAN_CONFIG_MSG_TYPE_BIT = $08 const CAN_CONFIG_STD_MSG = $FF ' XXXX1XXX const CAN_CONFIG_XTD_MSG = $F7 ' XXXX0XXX const CAN_CONFIG_DBL_BUFFER_BIT = $10 const CAN_CONFIG_DBL_BUFFER_ON = $FF ' XXX1XXXX const CAN_CONFIG_DBL_BUFFER_OFF = $EF ' XXX0XXXX const CAN_CONFIG_MSG_BITS = $60 const CAN_CONFIG_ALL_MSG = $FF ' X11XXXXX const CAN_CONFIG_VALID_XTD_MSG = $DF ' X10XXXXX const CAN_CONFIG_VALID_STD_MSG = $BF ' X01XXXXX const CAN_CONFIG_ALL_VALID_MSG = $9F ' X00XXXXX Example of interfacing CAN transceiver with MCU and bus 5.2.4 CANSPI Library
- 49. 49 The Controller Area Network module (CAN) is serial interface, used for communicating with other peripherals or microcontrollers. CAN module is available with a number of PIC MCU models. MCP2515 or MCP2510 are modules that enable any chip with SPI interface to communicate over CAN bus. BASIC includes a set of library routines to provide you comfortable work with the module. More details about CAN can be found in appropriate literature and on mikroElektronika Web site. Note: CANSPI routines are supported by any PIC MCU model that has SPI interface on PORTC. Also, CS pin of MCP2510 or MCP2515 must be connected to RC0 pin. 5.2.4.1 CANSPISetOperationMode– SetsCANto requestedmode Prototype sub procedure CANSPISetOperationMode(dim mode as byte, dim Wait as byte) Description The procedure copies <mode> to CANSTAT and sets CAN to requested mode. Operation <mode> code can take any of predefined constant values. <Wait> takes values TRUE(255) or FALSE(0) If Wait is true, this is a blocking call. It won't return until requested mode is set. If Wait is false, this is a non-blocking call. It does not verify if CAN module is switched to requested mode or not. Caller must use CANGetOperationMode() to verify correct operation mode before performing mode specific operation. Example CANSPISetOperationMode(CAN_MODE_LISTEN, TRUE) ' Sets CAN to Listen mode 5.2.4.2 CANSPIGetOperationMode– Returnsthecurrent operationmodeofCAN Prototype sub function CANSPIGetOperationMode as byte Description The function returns the current operation mode of CAN. Example CANGetOperationMode 5.2.4.3 CANSPIInitialize– InitializesCANSPI Prototype sub procedure CANSPIInitialize(dim SJW as byte, dim BRP as byte, dim PHSEG1 as byte, dim PHSEG2 as byte, dim PROPSEG as byte, dim CAN_CONFIG_FLAGS as byte) Description The procedure initializes CAN module. CAN must be in Configuration mode or else these values will be ignored. Parameters: SJW value as defined in 18XXX8 datasheet (must be between 1 thru 4)
- 50. 50 BRP value as defined in 18XXX8 datasheet (must be between 1 thru 64) PHSEG1 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PHSEG2 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PROPSEG value as defined in 18XXX8 datasheet (must be between 1 thru 8) CAN_CONFIG_FLAGS value is formed from constants (see below) Output: CAN bit rate is set. All masks registers are set to '0' to allow all messages. Filter registers are set according to flag value: If (CAN_CONFIG_FLAGS and CAN_CONFIG_VALID_XTD_MSG) <> 0 Set all filters to XTD_MSG Else if (config and CONFIG_VALID_STD_MSG) <> 0 Set all filters to STD_MSG Else Set half of the filters to STD, and the rest to XTD_MSG Side Effects: All pending transmissions are aborted. Example dim aa as byte aa = CAN_CONFIG_SAMPLE_THRICE and ' form value to be used CAN_CONFIG_PHSEG2_PRG_ON and ' with CANSPIInitialize CAN_CONFIG_STD_MSG and CAN_CONFIG_DBL_BUFFER_ON and CAN_CONFIG_VALID_XTD_MSG and CAN_CONFIG_LINE_FILTER_OFF CANInitialize(1, 1, 3, 3, 1, aa) 5.2.4.4 CANSPISetBaudRate– SetsCANBaudRate Prototype sub procedure CANSPISetBaudRate(dim SJW as byte, dim BRP as byte, dim PHSEG1 as byte, dim PHSEG2 as byte, dim PROPSEG as byte, dim CAN_CONFIG_FLAGS as byte) Description The procedure sets CAN Baud Rate. CAN must be in Configuration mode or else these values will be ignored. Parameters: SJW value as defined in 18XXX8 datasheet (must be between 1 thru 4) BRP value as defined in 18XXX8 datasheet (must be between 1 thru 64) PHSEG1 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PHSEG2 value as defined in 18XXX8 datasheet (must be between 1 thru 8) PROPSEG value as defined in 18XXX8 datasheet (must be between 1 thru 8) CAN_CONFIG_FLAGS - Value formed from constants (see section below) Output: Given values are bit adjusted to fit in 18XXX8 and BRGCONx registers and copied. CAN bit rate is set as per given values.
- 51. 51 Example CANSPISetBaudRate(1, 1, 3, 3, 1, aa) 5.2.4.5 CANSPISetMask – Setsthe CANmessagemask Prototype sub procedure CANSPISetMask(CAN_MASK as byte, val as longint, dim CAN_CONFIG_FLAGS as byte) Description The procedure sets the CAN message mask. CAN must be in Configuration mode. If not, all values will be ignored. Parameters: CAN_MASK - One of predefined constant value val - Actual mask register value CAN_CONFIG_FLAGS - Type of message to filter, either CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG Output: Given value is bit adjusted to appropriate buffer mask registers. Example CANSPISetMask(CAN_MASK_B2, -1, CAN_CONFIG_XTD_MSG) 5.2.4.6 CANSPISetFilter – Sets the CANmessagefilter Prototype sub procedure CANSPISetFilter(dim CAN_FILTER as byte, dim val as longint, dim CAN_CONFIG_FLAGS as byte) Description The procedure sets the CAN message filter. CAN must be in Configuration mode. If not, all values will be ignored. Parameters: CAN_FILTER - One of predefined constant values val - Actual filter register value. CAN_CONFIG_FLAGS - Type of message to filter, either CAN_CONFIG_XTD_MSG or CAN_CONFIG_STD_MSG Output: Given value is bit adjusted to appropriate buffer filter registers Example CANSPISetFilter(CAN_FILTER_B1_F1, 3, CAN_CONFIG_XTD_MSG) 5.2.4.7 CANSPIWrite– Queuesmessagefortransmission Prototype sub function CANSPIWrite(dim id as longint, dim byref Data : as byte[8], dim DataLen as byte, dim CAN_TX_MSG_FLAGS as byte) as byte
- 52. 52 Description If at least one empty transmit buffer is found, given message is queued for the transmission. If none found, FALSE value is returned. CAN must be in Normal mode. Parameters: id - CAN message identifier. Only 11 or 29 bits may be used depending on message type (standard or extended) Data - array of as bytes up to 8 as bytes in length DataLen - Data length from 1 thru 8 CAN_TX_MSG_FLAGS - Value formed from constants (see section below) Example aa1 = CAN_TX_PRIORITY_0 and ' form value to be used CAN_TX_XTD_FRAME and ' with CANSPIWrite CAN_TX_NO_RTR_FRAME CANSPIWrite(-1, data, 1, aa1) 5.2.4.8 CANSPIRead – Extractsand readsthe message Prototype sub function CANSPIRead(dim byref id as longint, dim byref Data as byte[8], dim byref DataLen as byte, dim byref CAN_RX_MSG_FLAGS as byte) as byte Description If at least one full receive buffer is found, the function extracts and returns the message as byte. If none found, FALSE value is returned. CAN must be in mode in which receiving is possible. Parameters: id - CAN message identifier Data - array of bytes up to 8 bytes in length DataLen - Data length from 1 thru 8 CAN_TX_MSG_FLAGS - Value formed from constants (see below) Example res = CANSPIRead(id, Data, 7, 0) 5.2.4.9 CANSPILibraryConstants You need to be familiar with constants that are provided for use with the CAN module. All of the following constants are predefined in CANSPI library. CAN_OP_MODE These constant values define CAN module operation mode. CANSetOperationMode() routine requires this code. These values must be used by itself, i.e. they cannot be ANDed to form multiple values. const CAN_MODE_BITS = $E0 ' Use these to access opmode bits const CAN_MODE_NORMAL = 0 const CAN_MODE_SLEEP = $20
- 53. 53 const CAN_MODE_LOOP = $40 const CAN_MODE_LISTEN = $60 const CAN_MODE_CONFIG = $80 CAN_TX_MSG_FLAGS These constant values define flags related to transmission of a CAN message. There could be more than one this flag ANDed together to form multiple flags. const CAN_TX_PRIORITY_BITS = $03 const CAN_TX_PRIORITY_0 = $FC ' XXXXXX00 const CAN_TX_PRIORITY_1 = $FD ' XXXXXX01 const CAN_TX_PRIORITY_2 = $FE ' XXXXXX10 const CAN_TX_PRIORITY_3 = $FF ' XXXXXX11 const CAN_TX_FRAME_BIT = $08 const CAN_TX_STD_FRAME = $FF ' XXXXX1XX const CAN_TX_XTD_FRAME = $F7 ' XXXXX0XX const CAN_TX_RTR_BIT = $40 const CAN_TX_NO_RTR_FRAME = $FF ' X1XXXXXX const CAN_TX_RTR_FRAME = $BF ' X0XXXXXX CAN_RX_MSG_FLAGS These constant values define flags related to reception of a CAN message. There could be more than one this flag ANDed together to form multiple flags. If a particular bit is set; corresponding meaning is TRUE or else it will be FALSE. e.g. if (MsgFlag and CAN_RX_OVERFLOW) <> 0 then ' Receiver overflow has occurred. ' We have lost our previous message. const CAN_RX_FILTER_BITS = $07 ' Use these to access filter bits const CAN_RX_FILTER_1 = $00 const CAN_RX_FILTER_2 = $01 const CAN_RX_FILTER_3 = $02 const CAN_RX_FILTER_4 = $03 const CAN_RX_FILTER_5 = $04 const CAN_RX_FILTER_6 = $05 const CAN_RX_OVERFLOW = $08 ' Set if Overflowed else cleared const CAN_RX_INVALID_MSG = $10 ' Set if invalid else cleared const CAN_RX_XTD_FRAME = $20 ' Set if XTD message else cleared const CAN_RX_RTR_FRAME = $40 ' Set if RTR message else cleared const CAN_RX_DBL_BUFFERED = $80 ' Set if this message was hardware double- buffered CAN_MASK
- 54. 54 These constant values define mask codes. Routine CANSetMask()requires this code as one of its arguments. These enumerations must be used by itself i.e. it cannot be ANDed to form multiple values. const CAN_MASK_B1 = 0 const CAN_MASK_B2 = 1 CAN_FILTER These constant values define filter codes. Routine CANSetFilter() requires this code as one of its arguments. These enumerations must be used by itself, i.e. it cannot be ANDed to form multiple values. const CAN_FILTER_B1_F1 = 0 const CAN_FILTER_B1_F2 = 1 const CAN_FILTER_B2_F1 = 2 const CAN_FILTER_B2_F2 = 3 const CAN_FILTER_B2_F3 = 4 const CAN_FILTER_B2_F4 = 5 CAN_CONFIG_FLAGS These constant values define flags related to configuring CAN module. Routines CANInitialize() and CANSetBaudRate() use these codes. One or more these values may be ANDed to form multiple flags const CAN_CONFIG_DEFAULT = $FF ' 11111111 const CAN_CONFIG_PHSEG2_PRG_BIT = $01 const CAN_CONFIG_PHSEG2_PRG_ON = $FF ' XXXXXXX1 const CAN_CONFIG_PHSEG2_PRG_OFF = $FE ' XXXXXXX0 const CAN_CONFIG_LINE_FILTER_BIT = $02 const CAN_CONFIG_LINE_FILTER_ON = $FF ' XXXXXX1X const CAN_CONFIG_LINE_FILTER_OFF = $FD ' XXXXXX0X const CAN_CONFIG_SAMPLE_BIT = $04 const CAN_CONFIG_SAMPLE_ONCE = $FF ' XXXXX1XX const CAN_CONFIG_SAMPLE_THRICE = $FB ' XXXXX0XX const CAN_CONFIG_MSG_TYPE_BIT = $08 const CAN_CONFIG_STD_MSG = $FF ' XXXX1XXX const CAN_CONFIG_XTD_MSG = $F7 ' XXXX0XXX const CAN_CONFIG_DBL_BUFFER_BIT = $10 const CAN_CONFIG_DBL_BUFFER_ON = $FF ' XXX1XXXX const CAN_CONFIG_DBL_BUFFER_OFF = $EF ' XXX0XXXX const CAN_CONFIG_MSG_BITS = $60 const CAN_CONFIG_ALL_MSG = $FF ' X11XXXXX const CAN_CONFIG_VALID_XTD_MSG = $DF ' X10XXXXX const CAN_CONFIG_VALID_STD_MSG = $BF ' X01XXXXX const CAN_CONFIG_ALL_VALID_MSG = $9F ' X00XXXXX
- 55. 55 Example of interfacing CAN transceiver MCP2551, and MCP2510 with MCU and bus 5.2.5 Compact Flash Library Compact Flash Library provides routines for accessing data on Compact Flash card (abbrev. CF further in text). CF cards are widely used memory elements, commonly found in digital cameras. Great capacity (8MB ~ 2GB, and more) and excellent access time of typically few microseconds make them very attractive for microcontroller applications. In CF card, data is divided into sectors, one sector usually comprising 512 bytes (few older models have sectors of 256B). Read and write operations are not performed directly, but successively through 512B buffer. Following routines can be used for CF with FAT16 and FAT32 file system.
- 56. 56 Note: routines for file handling (CF_File_Write_Init, CF_File_Write_Byte, CF_File_Write_Complete) can be used only with FAT16 file system, and only with PIC18 family! Before write operation, make sure you don’t overwrite boot or FAT sector as it could make your card on PC or digital cam unreadable. Drive mapping tools, such as Winhex, can be of a great assistance. 5.2.5.1 CF_Init_Port– Initializesportsappropriately Prototype sub procedure CF_INIT_PORT(dim byref CtrlPort as byte, dim byref DataPort as byte) Description The procedure initializesportsappropriately: <CtrlPort> iscontrol port, and <DataPort>isdata port to whichCF isattached. Example CF_Init_Port(PORTB, PORTD) ' Control port is PORTB, Data port is PORTD 5.2.5.2 CF_Detect – ChecksforpresenceofCF Prototype sub function CF_DETECT(dim byref CtrlPort as byte) as byte Description The functionchecksif CompactFlashcard ispresent.Returnstrue if present, otherwise returnsfalse. <CtrlPort>mustbe initialized(call CF_INIT_PORTfirst). Example do nop loop until CF_Detect(PORTB) = true ' wait until CF card is inserted 5.2.5.3 CF_Write_Init– InitializesCFcardforwriting Prototype sub procedure CF_WRITE_INIT(dim byref CtrlPort as byte, dim byref DataPort as byte, dim Adr as longint, dim SectCnt as byte)
- 57. 57 Description The procedure initializes CF card for writing. Ports need to be initialized. Parameters: CtrlPort - control port, DataPort - data port, k - specifies sector address from where data will be written, SectCnt - parameter is total number of sectors prepared for write. Example CF_Write_Init(PORTB, PORTD, 590, 1) ' Initialize write at sector address 590 ' of 1 sector (512 bytes) 5.2.5.4 CF_Write_Byte – Writes 1 byte to CF Prototype sub procedure CF_WRITE_BYTE(dim byref CtrlPort as byte, dim byref DataPort as byte, dim BData as byte) Description The procedure writes 1 byte to Compact Flash. The procedure has effect only if CF card is initialized for writing. Parameters: CtrlPort - control port, DataPort - data port, dat - data byte written to CF Example CF_Write_Init(PORTB, PORTD, 590, 1) ' Initialize write at sector address 590 ' of 1 sector (512 bytes) for i = 0 to 511 ' Write 512 bytes to sector at address 590 CF_Write_Byte(PORTB, PORTD, i) next i 5.2.5.5 CF_Write_Word – Writes 1wordto CF Prototype sub procedure CF_WRITE_WORD(dim byref CtrlPort as byte, dim byref DataPort as byte, dim WData as word) Description The procedure writes 1 word to Compact Flash. The procedure has effect only if CF card is initialized for writing. Parameters: CtrlPort - control port, DataPort - data port, Wdata - data word written to CF Example CF_Write_Word(PORTB, PORTD, Data)
- 58. 58 5.2.5.6 CF_Read_Init– InitializesCFcardfor reading Prototype sub procedure CF_READ_INIT(dim byref CtrlPort as byte, dim byref DataPort as byte, dim Adr as longint, dim SectCnt as byte) Description Parameters: CtrlPort - control port, DataPort - data port, Adr - specifies sector address from where data will be read, SectCnt - total number of sectors prepared for read operations. Example CF_Read_Init(PORTB, PORTD, 590, 1) ' Initialize write at sector address 590 ' of 1 sector (512 bytes) 5.2.5.7 CF_Read_Byte – Reads1 byte fromCF Prototype sub function CF_READ_BYTE(dim byref CtrlPort as byte, dim byref DataPort as byte) as byte Description Function reads 1 byte from Compact Flash. Ports need to be initialized, and CF must be initialized for reading. Parameters: CtrlPort - control port, DataPort - data port Example PORTC = CF_Read_Byte(PORTB, PORTD) ' read byte and display on PORTC 5.2.5.8 CF_Read_Word – Reads1 wordfromCF Prototype sub function CF_READ_WORD(dim byref CtrlPort as byte, dim byref DataPort as byte) as word Description Function reads 1 word from Compact Flash. Ports need to be initialized, and CF must be initialized for reading. Parameters: CtrlPort - control port, DataPort - data port Example PORTC = CF_Read_Word(PORTB, PORTD) ' read word and display on PORTC
- 59. 59 5.2.5.9 CF_File_Write_Init– InitializesCFcardfor filewritingoperation(FAT16only,PIC18 only) Prototype sub procedure CF_File_Write_Init(dim byref CtrlPort as byte, dim byref DataPort as byte) Description This procedure initializes CF card for file writing operation (FAT16 only, PIC18 only). Parameters: CtrlPort - control port, DataPort - data port Example CF_File_Write_Init(PORTB, PORTD) 5.2.5.10 CF_File_Write_Byte– Addsonebyte to file(FAT16only,PIC18only) Prototype sub procedure CF_File_Write_Byte(dim byref CtrlPort as byte, dim byref DataPort as byte,dim Bdata as byte) Description This procedure adds one byte (Bdata) to file (FAT16 only, PIC18 only). Parameters: CtrlPort - control port, DataPort - data port, Bdata - data byte to be written. Example while i < 50000 CF_File_Write_Byte(PORTB, PORTD, 48 + index) ' demonstration: writes 50000 bytes to file inc(i) wend 5.2.5.11 CF_File_Write_Complete – Closes fileandmakesit readable(FAT16only,PIC18 only) Prototype sub procedure CF_File_Write_Complete(dim byref CtrlPort as byte, dim byref DataPort as byte,dim byref Filename as char[9]) Description Upon all data has be written to file, use this procedure to close the file and make it readable by Windows (FAT16 only, PIC18 only). Parameters: CtrlPort - control port, DataPort - data port, Filename (must be in uppercase and must have exactly 8 characters).
- 60. 60 Example CF_File_Write_Complete(PORTB, PORTD, "example1", "txt") Pin diagram of CF memory card 5.2.6 EEPROM Library EEPROM data memory is available with a number of PIC MCU models. Set of library procedures and functions is listed below to provide you comfortable work with EEPROM. Notes: Be aware that all interrupts will be disabled during execution of EEPROM_Write routine (GIE bit of INTCON register will be cleared). Routine will set this bit on exit. Ensure minimum 20ms delay between successive use of routines EEPROM_Write and EEPROM_Read. Although EEPROM will write the correct value, EEPROM_Read might return undefined result. 5.2.6.1 EEPROM_Read – Reads 1byte from EEPROM Prototype sub function EEprom_Read(dim Address as byte) as byte
- 61. 61 Description Function reads byte from <Address>. <Address> is of byte type, which means it can address only 256 locations. For PIC18 MCU models with more EEPROM data locations, it is programmer's responsibility to set SFR EEADRH register appropriately. Ensure minimum 20ms delay between successive use of routines EEPROM_Write and EEPROM_Read. Although EEPROM will write the correct value, EEPROM_Read might return undefined result. Example TRISB = 0 Delay_ms(30) for i = 0 to 20 PORTB = EEPROM_Read(i) for j = 0 to 200 Delay_us(500) next j next i 5.2.6.2 EEPROM_Write – Writes1 byte to EEPROM Prototype sub procedure EEprom_Write(dim Address as byte, dim Data as byte) Description Function writes byte to <Address>. <Address> is of byte type, which means it can address only 256 locations. For PIC18 MCU models with more EEPROM data locations, it is programmer's responsibility to set SFR EEADRH register appropriately. All interrupts will be disabled during execution of EEPROM_Write routine (GIE bit of INTCON register will be cleared). Routine will set this bit on exit Ensure minimum 20ms delay between successive use of routines EEPROM_Write and EEPROM_Read. Although EEPROM will write the correct value, EEPROM_Read might return undefined result. Example for i = 0 to 20 EEPROM_Write(i, i + 6) next i 5.2.7 Flash Memory Library This library provides routines for accessing microcontroller Flash memory. Note: Routines differ for PIC16 and PIC18 families.
- 62. 62 5.2.7.1 Flash_Read – Readsdata frommicrocontrollerFlashmemory Prototype sub function Flash_Read(dim Address as longint) as byte ' for PIC18 sub function Flash_Read(dim Address as word) as word ' for PIC16 Description Procedure reads data from the specified <Address>. Example for i = 0 to 63 toRead = Flash_Read($0D00 + i) ' read 64 consecutive locations starting from 0x0D00 next i 5.2.7.2 Flash_Write– Writesdata to microcontrollerFlashmemory Prototype sub procedure Flash_Write(dim Address as longint, dim byref Data as byte[64]) ' for PIC18 sub procedure Flash_Write(dim Address as word, dim Data as word) ' for PIC16 Description Procedure writes chunk of data to Flash memory (for PIC18, data needs to exactly 64 bytes in size). Keep in mind that this function erases target memory before writing <Data> to it. This means that if write was unsuccessful, your previous data will be lost. Example for i = 0 to 63 ' initialize array toWrite[i] = i next i Flash_Write($0D00, toWrite) ' write contents of the array to the address 0x0D00 5.2.8 I2C Library I2C interface is serial interface used for communicating with peripheral or other microcontroller devices. Routines below are intended for PIC MCUs with MSSP module. By using these, you can configure and use PIC MCU as master in I2C communication. 5.2.8.1 I2C_Init– InitializesI2C module Prototype sub procedure I2C_Init(const Clock as longint) Description Initializes I2C module. Parameter <Clock> is a desired I2C clock (refer to device data sheet for correct values in respect with Fosc). Example I2C_Init(100000)
- 63. 63 5.2.8.2 I2C_Start– Issuesstart condition Prototype sub function I2C_Start as byte Description Determinesif I2Cbusisfree andissuesSTARTcondition;if there isnoerror,function returns0. Example I2C_Start 5.2.8.3 I2C_Repeated_Start– Performsrepeatedstart Prototype sub procedure I2C_Repeated_Start Description Performs repeated start condition. Example I2C_Repeated_Start 5.2.8.4 I2C_Rd – Receivesbytefromslave Prototype sub function I2C_Rd(dim Ack as byte) as byte Description Receives1byte fromslave andsends notacknowledgesignal if <Ack>is0; otherwise, it sends acknowledge. Example Data = I2C_Rd(1) ' read data w/ acknowledge 5.2.8.5 I2C_Wr – Sendsdata bytevia I2C bus Prototype sub function I2C_Wr(dim Data as byte) as byte Description After you have issued a start or repeated start you can send <Data> byte via I2C bus. The function returns 0 if there are no errors. Example I2C_Wr($A2) ' send byte via I2C(command to 24cO2) 5.2.8.6 I2C_Stop – IssuesSTOP condition Prototype sub procedure I2C_Stop as byte
- 64. 64 Description Issues STOP condition. Example I2C_Stop Example of I2C communication with 24c02 EEPROM 5.2.9 LCD Library BASIC provides a set of library procedures and functions for communicating with commonly used 4-bit interface LCD (with Hitachi HD44780 controller). Be sure to designate port with LCD as output, before using any of the following library procedures or functions. 5.2.9.1 LCD_Init– InitializesLCD withdefaultpin settings Prototype sub procedure LCD_Init(dim byref Port as byte) Description Initializes LCD at <Port> with default pin settings (see the figure below). Example LCD_Init(PORTB) ' Initializes LCD on PORTB (check pin settings in the figure below) 5.2.9.2 LCD_Config– InitializesLCD withcustompin settings Prototype sub procedure LCD_Config(dim byref Port as byte, const RS, const
- 65. 65 EN, const WR, const D7, const D6, const D5, const D4) Description Initializes LCD at <Port> with pin settings you specify: parameters <RS>, <EN>, <WR>, <D7> .. <D4> need to be a combination of values 0..7 (e.g. 3,6,0,7,2,1,4). Example LCD_Config(PORTD, 1, 2, 0, 3, 5, 4, 6) ' Initializes LCD on PORTD with our custom pin settings 5.2.9.3 LCD_Chr – Printschar onLCD at specifiedrowandcol Prototype sub procedure LCD_Chr(dim Row as byte, dim Column as byte, dim Character as byte) Description Prints <Character> at specified <Row> and <Column> on LCD. Example LCD_Chr(1, 2, "e") ' Prints character "e" on LCD (1st row, 2nd column) 5.2.9.4 LCD_Chr_CP – Printschar onLCD at currentcursorposition Prototype sub procedure LCD_Chr_CP(dim Character as byte) Description Prints <Character> at current cursor position. Example LCD_Chr_CP("k") ' Prints character "k" at current cursor position 5.2.9.5 LCD_Out – Prints stringon LCD at specifiedrowandcol Prototype sub procedure LCD_Out(dim Row as byte, dim Column as byte, dim byref Text as char[255]) Description Prints <Text> (string variable) at specified <Row> and <Column> on LCD. Both string variables and string constants can be passed. Example LCD_Out(1, 3, Text) ' Prints string variable Text on LCD (1st row, 3rd column) 5.2.9.6 LCD_Out_CP – Prints stringon LCD at current cursorposition Prototype sub procedure LCD_Out_CP(dim byref Text as char[255]) Description Prints <Text> (string variable) at current cursor position. Both string variables and string constants can be passed.
- 66. 66 Example LCD_Out_CP("Some text") ' Prints "Some text" at current cursor position 5.2.9.7 LCD_Cmd – Sendscommandto LCD Prototype sub procedure LCD_Cmd(dim Command as byte) Description Sends <Command> to LCD. List of available commands follows: LCD_First_Row ' Moves cursor to 1st row LCD_Second_Row ' Moves cursor to 2nd row LCD_Third_Row ' Moves cursor to 3rd row LCD_Fourth_Row ' Moves cursor to 4th row LCD_Clear ' Clears display LCD_Return_Home ' Returns cursor to home position, ' returns a shifted display to original position. ' Display data RAM is unaffected. LCD_Cursor_Off ' Turn off cursor LCD_Underline_On ' Underline cursor on LCD_Blink_Cursor_On ' Blink cursor on LCD_Move_Cursor_Left ' Move cursor left without changing display data RAM LCD_Move_Cursor_Right ' Move cursor right without changing display data RAM LCD_Turn_On ' Turn LCD display on LCD_Turn_Off ' Turn LCD display off LCD_Shift_Left ' Shift display left without changing display data RAM LCD_Shift_Right ' Shift display right without changing display data RAM
- 67. 67 Example LCD_Cmd(LCD_Clear) ' Clears LCD display LCD HW connection 5.2.10 LCD8 Library (8-bit interface LCD) BASIC provides a set of library procedures and functions for communicating with commonly used 8-bit interface LCD (with Hitachi HD44780 controller). Be sure to designate Control and Data ports with LCD as output, before using any of the following library procedures or functions. 5.2.10.1 LCD8_Init– InitializesLCD withdefaultpinsettings Prototype sub procedure LCD8_Init(dim byref Port_Ctrl as byte, dim byref Port_Data as byte) Description Initializes LCD at <Port_Ctrl> and <Port_Data> with default pin settings (see the figure below). Example LCD8_Init(PORTB, PORTC) ' Initializes LCD on PORTB and PORTC with default pin settings ' (check pin settings in the figure below) 5.2.10.2 LCD8_Config– InitializesLCD withcustompinsettings Prototype sub procedure LCD8_Config(dim byref Port_Ctrl as byte, dim byref Port_Data as byte, const RS, const EN, const WR, const D7, const
- 68. 68 D6, const D5, const D4, const D3, const D2, const D1, const D0) Description Initializes LCD at <Port_Ctrl> and <Port_Data> with pin settings you specify: parameters <RS>, <EN>, <WR> need to be in range 0..7; parameters <D7>..<D0> need to be a combination of values 0..7 (e.g. 3,6,5,0,7,2,1,4). Example LCD8_Config(PORTC, PORTD, 0, 1, 2, 6, 5, 4, 3, 7, 1, 2, 0) ' Initializes LCD on PORTC and PORTD with our custom pin settings 5.2.10.3 LCD8_Chr – Printschar onLCD at specifiedrow andcol Prototype sub procedure LCD8_Chr(dim Row as byte, dim Column as byte, dim Character as byte) Description Prints <Character> at specified <Row> and <Column> on LCD. Example LCD8_Chr(1, 2, "e") ' Prints character "e" on LCD (1st row, 2nd column) 5.2.10.4 LCD8_Chr_CP – Printschar onLCD at currentcursorposition Prototype sub procedure LCD8_Chr_CP(dim Character as byte) Description Prints <Character> at current cursor position. Example LCD8_Chr_CP("k") ' Prints character "k" at current cursor position 5.2.10.5 LCD8_Out– Prints stringonLCD at specifiedrowandcol Prototype sub procedure LCD8_Out(dim Row as byte, dim Column as byte, dim byref Text as char[255]) Description Prints <Text> (string variable) at specified <Row> and <Column> on LCD. Both string variables and string constants can be passed. Example LCD8_Out(1, 3, Text) ' Prints string variable Text on LCD (1st row, 3rd column) 5.2.10.6 LCD8_Out_CP – Prints stringonLCD at currentcursorposition Prototype sub procedure LCD8_Out_CP(dim byref Text as char[255]) Description Prints <Text> (string variable) at current cursor position. Both string variables
- 69. 69 and string constants can be passed. Example LCD8_Out_CP("Test") ' Prints "Test" at current cursor position 5.2.10.7 LCD8_Cmd – Sendscommandto LCD Prototype sub procedure LCD8_Cmd(dim Command as byte) Description Sends <Command > to LCD. List of available commands follows: LCD_First_Row ' Moves cursor to 1st row LCD_Second_Row ' Moves cursor to 2nd row LCD_Third_Row ' Moves cursor to 3rd row LCD_Fourth_Row ' Moves cursor to 4th row LCD_Clear ' Clears display LCD_Return_Home ' Returns cursor to home position, ' returns a shifted display to original position. ' Display data RAM is unaffected. LCD_Cursor_Off ' Turn off cursor LCD_Underline_On ' Underline cursor on LCD_Blink_Cursor_On ' Blink cursor on LCD_Move_Cursor_Left ' Move cursor left without changing display data RAM LCD_Move_Cursor_Right ' Move cursor right without changing display data RAM LCD_Turn_On ' Turn LCD display on LCD_Turn_Off ' Turn LCD display off LCD_Shift_Left ' Shift display left without changing display data RAM
- 70. 70 LCD_Shift_Right ' Shift display right without changing display data RAM Example LCD8_Cmd(LCD_Clear) ' Clears LCD display LCD HW connection 5.2.11 Graphic LCD Library mikroPascal provides a set of library procedures and functions for drawing and writing on Graphical LCD. Also it is possible to convert bitmap (use menu option Tools > BMP2LCD) to constant array and display it on GLCD. These routines works with commonly used GLCD 128x64, and work only with the PIC18 family. 5.2.11.1 GLCD_Config– InitializesGLCD withcustompin settings Prototype sub procedure GLCD_Config(dim byref Ctrl_Port as byte, dim byref Data_Port as byte, dim Reset as byte, dim Enable as byte,dim RS as byte, dim RW as byte, dim CS1 as byte, dim CS2 as byte) Description Initializes GLCD at <Ctrl_Port> and <Data_Port> with custom pin settings. Example GLCD_LCD_Config(PORTB, PORTC, 1,7,4,6,0,2)
- 71. 71 5.2.11.2 GLCD_Init– InitializesGLCD withdefaultpin settings Prototype sub procedure GLCD_Init(dim Ctrl_Port as byte, dim Data_Port as byte) Description Initializes LCD at <Ctrl_Port> and <Data_Port>. With default pin settings Reset=7, Enable=1, RS=3, RW=5, CS1=2, CS2=0. Example GLCD_LCD_Init(PORTB, PORTC) 5.2.11.3 GLCD_Put_Ins – Sendsinstructionto GLCD. Prototype sub procedure GLCD_Put_Ins(dim Ins as byte) Description Sends instruction <Ins> to GLCD. Available instructions include: X_ADRESS = $B8 ' Adress base for Page 0 Y_ADRESS = $40 ' Adress base for Y0 START_LINE = $C0 ' Adress base for line 0 DISPLAY_ON = $3F ' Turn display on DISPLAY_OFF = $3E ' Turn display off Example GLCD_Put_Ins(DISPLAY_ON) 5.2.11.4 GLCD_Put_Data – Sendsdata byte to GLCD. Prototype sub procedure GLCD_Put_Data(dim data as byte) Description Sends data byte to GLCD. Example GLCD_Put_Data(temperature) 5.2.11.5 GLCD_Put_Data2 – Sendsdatabyte to GLCD. Prototype sub procedure GLCD_Put_Data2(dim data as byte, dim side as byte) Description Sends data to GLCD at specified <side> (<side> can take constant value LEFT or RIGHT) . Example GLCD_Put_Data2(temperature, 1)
- 72. 72 5.2.11.6 GLCD_Select_Side-Selectsthesideof the GLCD. Prototype sub procedure GLCD_Select_Side(dim LCDSide as byte) Description Selects the side of the GLCD: ' const RIGHT = 0 ' const LEFT = 1 Example GLCD_Select_Side(1) 5.2.11.7 GLCD_Data_Read – Readsdata fromGLCD. Prototype sub function GLCD_Data_Read as byte Description Reads data from GLCD. Example GLCD_Data_Read 5.2.11.8 GLCD_Clear_Dot – Clearsa doton the GLCD. Prototype sub procedure GLCD_Clear_Dot(dim x as byte, dim y as byte) Description Clears a dot on the GLCD at specified coordinates. Example GLCD_Clear_Dot(20, 32) 5.2.11.9 GLCD_Set_Dot – Drawsa dot onthe GLCD. Prototype sub procedure GLCD_Set_Dot(dim x as byte, dim y as byte) Description Draws a dot on the GLCD at specified coordinates. Example GLCD_Set_Dot(20, 32) 5.2.11.10 GLCD_Circle– Drawsa circleonthe GLCD. Prototype sub procedure GLCD_Circle(dim CenterX as integer, dim CenterY as integer, dim Radius as integer) Description Draws a circle on the GLCD, centered at <CenterX, CenterY> with <Radius>.
- 73. 73 Example GLCD_Circle(30, 42, 6) 5.2.11.11 GLCD_Line– Drawsaline Prototype sub procedure GLCD_Line(dim x1 as integer, dim y1 as integer, dim x2 as integer, dim y2 as integer) Description Draws a line from (x1,y1) to (x2,y2). Example GLCD_Line(0, 0, 120, 50) GLCD_Line(0,63, 50, 0) 5.2.11.12 GLCD_Invert– Invertsdisplay Prototype sub procedure GLCD_Invert(dim Xaxis as byte, dim Yaxis as byte) Description Procedure inverts display (changes dot state on/off) in the specified area, X pixels wide starting from 0 position, 8 pixels high. Parameter Xaxis spans 0..127, parameter Yaxis spans 0..7 (8 text lines). Example GLCD_Invert(60, 6) 5.2.11.13 GLCD_Goto_XY – Sets cursorto dot(x,y) Prototype sub procedure GLCD_Goto_XY(dim x as byte, dim y as byte) Description Sets cursor to dot (x,y). Procedure is used in combination with GLCD_Put_Data, GLCD_Put_Data2, and GLCD_Put_Char. Example GLCD_Goto_XY(60, 6) 5.2.11.14 GLCD_Put_Char – Prints<Character>atcursorposition Prototype sub procedure GLCD_Put_Char(dim Character as byte) Description Prints <Character> at cursor position. Example GLCD_Put_Char(k)
- 74. 74 5.2.11.15 GLCD_Clear_Screen – ClearstheGLCD screen Prototype sub procedure GLCD_Clear_Screen Description Clears the GLCD screen. Example GLCD_Clear_Screen 5.2.11.16 GLCD_Put_Text– Printstext at specifiedposition Prototype sub procedure GLCD_Put_Text(dim x_pos as word, dim y_pos as word, dim byref text as char[25], dim invert as byte) Description Prints <text> at specified position; y_pos spans 0..7. Example GLCD_Put_Text(0, 7, My_text, NONINVERTED_TEXT) 5.2.11.17 GLCD_Rectangle– Drawsa rectangle Prototype sub procedure GLCD_Rectangle(dim X1 as byte, dim Y1 as byte, dim X2 as byte, dim Y2 as byte) Description Draws a rectangle on the GLCD. (x1,y1) sets the upper left corner, (x2,y2) sets the lower right corner. Example GLCD_Rectangle(10, 0, 30, 35) 5.2.11.18 GLCD_Set_Font– Sets font forGLCD Prototype sub procedure GLCD_Set_Font(dim font_index as byte) Description Sets font for GLCD. Parameter <font_index> spans from 1 to 4, and determines which font will be used: 1: 5x8 dots 2: 5x7 3: 3x6 4: 8x8 Example GLCD_Set_Font(2)
- 75. 75 5.2.12 Manchester Code Library mikroBasic provides a set of library procedures and functions for handling Manchester coded signal. Manchester code is a code in which data and clock signals are combined to form a single self-synchronizing data stream; each encoded bit contains a transition at the midpoint of a bit period, the direction of transition determines whether the bit is a 0 or a 1; second half is the true bit value and the first half is the complement of the true bit value (as shown in the figure below). Note: Manchester receive routines are blocking calls (Man_Receive_Config, Man_Receive_Init, Man_Receive). This means that PIC will wait until the task is performed (e.g. byte is received, synchronization achieved, etc). Note: Routines for receiving are limited to a baud rate scope from 340 ~ 560 bps. 5.2.12.1 Man_Receive_Init– Initializationwithdefaultpin Prototype sub procedure Man_Receive_Init(dim byref Port as byte) Description Procedure works same as Man_Receive_Config, but with default pin setting (pin 6). Example Man_Receive_Init(PORTD) 5.2.12.2 Man_Receive_Config– Initializationwithcustompin Prototype sub procedure Man_Receive_Config(dim byref Port as byte, dim RXpin as byte) Description This procedure needs to be called in order to receive signal by procedure Man_Receive. You need to specify the <Port> and <RXpin> of input signal. In case of multiple errors on reception, you should call Man_Receive_Init once again to enable synchronization.
- 76. 76 Example Man_Receive_Config(PORTD, 5) 5.2.12.3 Man_Receive– Receivesabyte Prototype sub function Man_Receive(dim byref Error as byte) as byte Description Function extracts one byte from signal. If format does not match the expected, <Error> flag will be set True. Example dim ErrorFlag as byte temp = Man_Receive(ErrorFlag) ' Attempt byte receive 5.2.12.4 Man_Send_Init– Initializationwithdefaultpin Prototype sub procedure Man_Send_Init(dim byref Port as byte) Description Procedure works same as Man_Send_Config, but with default pin setting (pin 0). Example Man_Send_Init(PORTB) 5.2.12.5 Man_Send_Config– Initializationwithcustompin Prototype sub procedure Man_Send_Config(dim byref Port as byte, dim TXpin as byte) Description Procedure needs to be called in order to send signals via procedure Man_Send. Procedure specifies <Port> and <TXpin> for outgoing signal (const baud rate). Example Man_Send_Config(PORTB, 4) 5.2.12.6 Man_Send – Sendsabyte Prototype sub procedure Man_Send(dim Data as byte) Description Procedure sends one <Data> byte. Example for i = 1 to StrLen(s1) Man_Send(s1[i]) ' Send char Delay_ms(90) next i
- 77. 77 5.2.13 PWM Library CCP (Capture/ Compare/ PWM) module is available with a number of PIC MCU models. Set of library procedures and functions is listed below to provide comfortable work with PWM (Pulse Width Modulation). Note that these routines support module on PORTC pin RC2, and won't work with modules on other ports. Also, BASIC doesn't support enhanced PWM modules. 5.2.13.1 PWM_Init– InitializesPWM module Prototype sub procedure PWM_Init(const PWM_Freq) Description Initializes PWM module with (duty ratio) 0%. <PWM_Freq> is a desired PWM frequency (refer to device data sheet for correct values in respect with Fosc). Example PWM_Init(5000) ' initializes PWM module, freq = 5kHz 5.2.13.2 PWM_Change_Duty – Changesdutyratio Prototype sub procedure PWM_Change_Duty(dim New_Duty as byte) Description Routine changes duty ratio. <New_Duty> takes values from 0 to 255, where 0 is 0% duty ratio, 127 is 50% duty ratio, and 255 is 100% duty ratio. Other values for specific duty ratio can be calculated as (Percent*255)/100. Example while true Delay_ms(100) j = j + 1 PWM_Change_Duty(j) wend 5.2.13.3 PWM_Start– StartsPWM Prototype sub procedure PWM_Start Description Starts PWM. Example PWM_Start 5.2.13.4 PWM_Stop – StopsPWM Prototype sub procedure PWM_Stop
- 78. 78 Description Stops PWM. Example PWM_Stop PWM demonstration 5.2.14 RS485 Library RS485 is a multipoint communication which allows multiple devices to be connected to a single signal cable. BASIC provides a set of library routines to provide you comfortable work with RS485 system using Master/Slave architecture. Master and Slave devices interchange packets of information, each of these packets containing synchronization bytes, CRC byte, address byte, and the data. In Master/Slave architecture, Slave can never initiate communication. Each Slave has its unique address and receives only the packets containing that particular address. It is programmer's responsibility to ensure that only one device transmits data via 485 bus at a time. RS485 routines require USART module on port C. Pins of USART need to be attached to RS485 interface transceiver, such as LTC485 or similar. Pins of transceiver (Receiver Output Enable and Driver Outputs Enable) should be connected to port C, pin 2 (see the figure at end of the chapter).
- 79. 79 Note: Address 50 is a common address for all Slave devices: packets containing address 50 will be received by all Slaves. The only exceptions are Slaves with addresses 150 and 169, which require their particular address to be specified in the packet. 5.2.14.1 RS485Master_Init– InitializesMCUasMasterin RS485communication Prototype sub procedure RS485master_init Description Initializes MCU as Master in RS485 communication. USART needs to be initialized. Example RS485Master_Init 5.2.14.2 RS485Master_Read – ReceivesmessagefromSlave Prototype sub procedure RS485master_read(dim byref data as byte[5]) Description Master receives any message sent by Slaves. As messages are multi-byte, this procedure must be called for each byte received (see the example at the end of the chapter). Upon receiving a message, buffer is filled with the following values: data[0..2] is actual data data[3] is numberof bytesreceived,1..3 data[4] is setto 255 whenmessage isreceived data[5] is setto 255 if error hasoccurred data[6] is the addressof the Slave whichsentthe message Procedure automatically sets data[4] and data[5] upon every received message. These flags need to be cleared repeatedly from the program. Note: MCU must be initialized as Master in 485 communication to assign an address to MCU Example RS485Master_Read(dat) 5.2.14.3 RS485Master_Write– Sendsmessageto Slave Prototype sub procedure RS485Master_Write(dim byref data as byte[2], dim datalen as byte, dim address as byte) Description Routine sends number of bytes (1 < datalen <= 3) from buffer via 485, to slave specified by <address>. MCU must be initialized as Master in 485 communication. It is programmer's responsibility to ensure (by protocol) that only one device sends data via 485
- 80. 80 bus at a time. Example RS485Master_Write(dat, 1) 5.2.14.4 RS485Slave_Init– InitializesMCUasSlaveinRS485communication Prototype sub procedure RS485Slave_Init(dim address as byte) Description Initializes MCU as Slave in RS485 communication. USART needs to be initialized. <address> can take any value between 0 and 255, except 50, which is common address for all slaves. Example RS485Slave_Init(160) ' initialize MCU as Slave with address 160 5.2.14.5 RS485Slave_Read – ReceivesmessagefromMaster Prototype sub procedure RS485Slave_Read(dim byref data as byte[5]) Description Only messages that appropriately address Slaves will be received. As messages are multi-byte, this procedure must be called for each byte received (see the example at the end of the chapter). Upon receiving a message, buffer is filled with the following values: data[0..2] is actual data data[3] is numberof bytesreceived,1..3 data[4] is setto 255 whenmessage isreceived data[5] is setto 255 if error hasoccurred restof the bufferisundefined Procedure automatically sets data[4] and data[5] upon every received message. These flags need to be cleared repeatedly from the program. MCU must be initialized as Master in 485 communication to assign an address to MCU. Example RS485Slave_Read(dat) 5.2.14.6 RS485Slave_Write– Sendsmessageto Master Prototype sub procedure RS485Slave_Write(dim byref data as byte[2], dim datalen as byte)
- 81. 81 Description Sends number of bytes (1 < datalen <= 3) from buffer via 485 to Master. MCU must be initialized as Slave in 485 communication. It is programmer's responsibility to ensure (by protocol) that only one device sends data via 485 bus at a time. Example RS485Slave_Write(dat, 1) Example of interfacing PC to PIC MCU via RS485 bus 5.2.15 SPI Library SPI (Serial Peripheral Interface) module is available with a number of PIC MCU models. You can easily communicate with other devices via SPI - A/D converters, D/A converters,
- 82. 82 MAX7219, LTC1290 etc. You need PIC MCU with hardware integrated SPI (for example, PIC16F877). Then, simply use the following functions and procedures. 5.2.15.1 SPI_Init– StandardinitializationofSPI Prototype sub procedure SPI_Init Description Routine initializes SPI with default parameters: Master mode, clock Fosc/4, clock idle state low, data transmittedonlow tohighedge, inputdata sampledatthe middle of interval. Example SPI_Init 5.2.15.2 SPI_Init_Advanced – doessmt Prototype sub procedure SPI_Init_Advanced(dim Master as byte, dim Data_Sample as byte, dim Clock_Idle as byte, dim Low_To_High as byte) Description For advanced settings, configure and initialize SPI using the procedure SPI_Init_Advanced. Allowed values of parameters: <Master> determines the work mode for SPI: Master_OSC_div4 : Master clock=Fosc/4 Master_OSC_div16 : Master clock=Fosc/16 Master_OSC_div64 : Master clock=Fosc/64 Master_TMR2 : Master clocksource TMR2 Slave_SS_ENABLE : Master Slave selectenabled Slave_SS_DIS : Master Slave selectdisabled <Data_Sample> determines when data is sampled: Data_SAMPLE_MIDDLE : inputdatasampledinmiddle of interval Data_SAMPLE_END : inputdatasampledat the endof interval <Clock_Idle> determines idle state for clock: CLK_Idle_HIGH : clockidle HIGH CLK_Idle_LOW : clockidle LOW
- 83. 83 <Low_To_High> determines transmit edge for data: LOW_2_HIGH : data transmitonlow to highedge HIGH_2_LOW : data transmitonhighto low edge Example SPI_Init_Advanced(Master_OSC_div4, Data_SAMPLE_MIDDLE, CLK_Idle_LOW,LOW_2_HIGH) ' This will set SPI to: ' master mode, ' clock = Fosc/4, ' data sampled at the middle of interval, ' clock idle state low, ' data transmitted at low to high edge. 5.2.15.3 SPI_Read – Readsthe receiveddata Prototype sub function SPI_Read(dim Buffer as byte) as byte Description Routine provides clock by sending <Buffer> and reads the received data at the end of the period. Example dim rec as byte ... SPI_Read(rec) 5.2.15.4 SPI_Write– Sendsdata viaSPI Prototype sub procedure SPI_Write(dim Data as byte) Description Routine writes <Data> to SSPBUF and immediately starts the transmission. Example SPI_Write(7) 5.2.16 USART Library USART (Universal Synchronous Asynchronous Receiver Transmitter) hardware module is available with a number of PIC MCU models. You can easily communicate with other devices via RS232 protocol (for example with PC, see the figure at the end of this chapter - RS232 HW connection). You need a PIC MCU with hardware integrated USART (for example, PIC16F877). Then, simply use the functions and procedures described below. Note: Some PIC micros that have two USART modules, such as P18F8520, require you to specify the module you want to use. Simply append the number 1 or 2 to procedure or function name, e.g. USART_Write2(Dat).
- 84. 84 5.2.16.1 USART_Init– InitializesUSART Prototype sub procedure USART_Init(const Baud_Rate) Description Initializes PIC MCU USART hardware and establishes communication at specified <Baud_Rate>. Refer to the device data sheet for baud rates allowed for specific Fosc. If you specify the unsupported baud rate, compiler will report an error. Example USART_Init(2400) 5.2.16.2 USART_Data_Ready– Checksifdatais ready Prototype sub function USART_Data_Ready as byte Description Function checks if data is ready. Returns 1 if so, returns 0 otherwise. Example USART_Data_Ready 5.2.16.3 USART_Read – Receivesabyte Prototype sub function USART_Read as byte Description Receives a byte; if byte is not received returns 0. Example USART_Read 5.2.16.4 USART_Write– Transmitsabyte Prototype sub procedure USART_Write(dim Data as byte) Description Procedure transmits byte <Data>. Example USART_Write(dat)
- 85. 85 RS232 HW connection 5.2.17 One-Wire Library 1-wire library provides routines for communicating via 1-wire bus, for example with DS1820 digital thermometer. Note that oscillator frequency Fosc needs to be at least 4MHz in order to use the routines with Dallas digital thermometers. 5.2.17.1 OW_Reset – Issues 1-wireresetsignal forDS1820 Prototype sub function OW_Reset(dim byref PORT as byte, dim Pin as byte) as byte Description Issues 1-wire reset signal for DS1820. Parameters <PORT> and <Pin> specify the location of DS1820; return value of the function is 0 if DS1820 is present, and 1 otherwise. Example OW_Reset(PORTA, 5) 5.2.17.2 OW_Read – Readsonebyte via 1-wirebus Prototype sub function OW_Read(dim byref PORT as byte, Pin as byte) as byte
- 86. 86 Description Reads one byte via 1-wire bus. Example temp = OW_Read(PORTA, 5) ' get result from PORTA 5.2.17.3 OW_Write– Writes onebyte via1-wirebus Prototype sub procedure OW_Write(dim byref PORT as byte, dim Pin as byte, dim par as byte) Description Writes one byte (<par>) via 1-wire bus Example OW_Write(PORTA, 5, $44) 5.2.18 Software I2C BASIC provides routines which implement software I2C. These routines are hardware independent and can be used with any MCU. Software I2C enables you to use MCU as Master in I2C communication. Multi-master mode is not supported. 5.2.18.1 Soft_I2C_Config– ConfiguretheI2C master mode Prototype sub procedure Soft_I2C_Config(dim byref Port as byte, const SDA,const SCL) Description Configure the I2C master mode. Parameter <Port> specifies port of MCU on which SDA and SCL pins will be located; parameters <SCL> and <SDA> need to be in range 0..7 and cannot point at the same pin; Example Soft_I2C_Config(PORTD, 3, 4) 5.2.18.2 Soft_I2C_Start– IssuesSTART condition Prototype sub procedure Soft_I2C_Start Description Issues START condition.
- 87. 87 Example Soft_I2C_Start 5.2.18.3 Soft_I2C_Write– Senddata byte viaI2C bus Prototype sub function Soft_I2C_Write(dim Data as byte) as byte Description After you have issued a start signal you can send <Data> byte via I2C bus. The function returns 0 if there are no errors. Example Soft_I2C_Write($A3) 5.2.18.4 Soft_I2C_Read – Receivesbytefromslave Prototype sub function Soft_I2C_Read(dim Ack as byte) as byte Description Receives 1 byte from slave and sends not acknowledge signal if <Ack> is 0; otherwise, it sends acknowledge. Example EE_data = Soft_I2C_Read(0) 5.2.18.5 Soft_I2C_Stop – IssuesSTOPcondition Prototype sub procedure Soft_I2C_Stop Description Issues STOP condition. Example Soft_I2C_Stop 5.2.19 Software SPI Library BASIC provides routines which implement software SPI. These routines are hardware independent and can be used with any MCU. You can easily communicate with other devices via SPI - A/D converters, D/A converters, MAX7219, LTC1290 etc. Simply use the following functions and procedures. 5.2.19.1 Soft_SPI_Config– ConfigureMCUforSPIcommunication Prototype sub procedure Soft_SPI_Config(dim byref Port as byte, const SDI, const SD0, const SCK)
- 88. 88 Description Routine configures and initializes software SPI with the following defaults: SetMCU to mastermode, Clock= 50kHz, Data sampledatthe middle of interval, Clockidle state low Data transmittedatlow to highedge. SDI pin, SDO pin, and SCK pin are specified by the appropriate parameters. Example Soft_SPI_Config(PORTB, 1, 2, 3) ' SDI pin is RB1, SDO pin is RB2, and SCK pin is RB3. 5.2.19.2 Soft_SPI_Read – Readsthereceiveddata Prototype sub function Soft_SPI_read(dim Buffer as byte) as byte Description Routine provides clock by sending <Buffer> and reads the received data at the end of the period. Example Soft_SPI_Read(dat) 5.2.19.3 Soft_SPI_Write– Sendsdatavia SPI Prototype sub procedure Soft_SPI_Write(dim Data as byte) Description Routine writes <Data> to SSPBUF and immediately starts the transmission. Example Soft_SPI_Write(dat) 5.2.20 Software UART Library BASIC provides routines which implement software UART. These routines are hardware independent and can be used with any MCU. You can easily communicate with other devices via RS232 protocol . Simply use the functions and procedures described below. 5.2.20.1 Soft_UART_Init– InitializesUART Prototype sub procedure Soft_UART_Init(dim byref Port as byte, const RX, const TX, const Baud_Rate) Description Initializes PIC MCU UART at specified pins establishes communication at
- 89. 89 <Baud_Rate>. If you specify the unsupported baud rate, compiler will report an error. Example Soft_UART_Init(PORTB, 1, 2, 9600) 5.2.20.2 Soft_UART_Read – Receivesabyte Prototype sub function Soft_UART_Read(dim byref Msg_received as byte) as byte Description Function returns a received byte. Parameter <Msg_received> will take true if transfer was succesful. Soft_UART_Read is a non-blocking function call, so you should test <Msg_received> manually (check the example below). Example Received_byte = Soft_UART_Read(Rec_ok) 5.2.20.4 Soft_UART_Write– Transmitsabyte Prototype sub procedure Soft_USART_Write(dim Data as byte) Description Procedure transmits byte <Data>. Example Soft_UART_Write(Received_byte) 5.2.21 Sound Library BASIC provides a sound library which allows you to use sound signalization in your applications. 5.2.21.1 Sound_Init– Initializessoundengine Prototype sub procedure Sound_Init(dim byref Port, dim Pin as byte) Description Procedure Sound_Init initializes sound engine and prepares it for output at specified <Port> and <Pin>. Parameter <Pin> needs to be within range 0..7. Example PORTB = 0 ' Clear PORTB TRISB = 0 ' PORTB is output Sound_Init(PORTB, 2) ' Initialize sound on PORTB.RB2
- 90. 90 5.2.21.2 Sound_Play– Playssoundatspecifiedport Prototype sub procedure Sound_Play(dim byref Port, dim Pin as byte) Description Procedure Sound_Play plays the sound at the specified port pin. <Period_div_10> is a sound period given in MCU cycles divided by ten, and generated sound lasts for a specified number of periods (<Num_of_Periods>). For example, if you want to play sound of 1KHz: T = 1/f = 1ms = 1000 cycles @ 4MHz<.code>. This gives us our first parameter: 1000/10 = 100. Then, we could play 150 periods like this: Sound_Play(100, 150). Example ... Sound_Init(PORTB,2) ' Initialize sound on PORTB.RB2 while true adcValue = ADC_Read(2) ' Get lower byte from ADC Sound_Play(adcValue, 200) ' Play the sound wend 5.2.22 Trigonometry Library BASIC provides a trigonometry library for applications which involve angle calculations. Trigonometric routines take an angle (in degrees) as parameter of type word and return sine and cosine multiplied by 1000 and rounded up (as integer). 5.2.22.1 SinE3 – Returnssineofangle Prototype sub function sinE3(dim Angle as word) as integer Description Function takes a word-type number which represents angle in degrees and returns the sine of <Angle> as integer, multiplied by 1000 (1E3) and rounded up to nearest integer: result = round_up(sin(Angle)*1000). Thus, the range of the return values for these functions is from -1000 to 1000. Note that parameter <Angle> cannot be negative. Function is implemented as lookup table, and the maximum error obtained is ±1. Example dim angle as word dim result as integer angle = 45 result = sinE3(angle) ' result is 707
- 91. 91 5.2.22.2 CosE3 – Returnscosineofangle Prototype sub function cosE3(dim Angle as word) as integer Description Function takes a word-type number which represents angle in degrees and returns the cosine of <Angle> as integer, multiplied by 1000 (1E3) and rounded up to nearest integer: result = round_up(cos(Angle)*1000). Thus, the range of the return values for these functions is from -1000 to 1000. Note that parameter <Angle> cannot be negative. Function is implemented as lookup table, and the maximum error obtained is ±1. Example dim angle as word dim result as integer angle = 90 result = cosE3(angle) ' result is 0 5.2.23 Utilities BASIC provides a utility set of procedures and functions for faster development of your applications. 5.2.23.1 Button – Debounce Prototype sub function Button(dim byref PORT as byte, dim Pin as byte, dim Time as byte, dim Astate as byte) as byte Description Function eliminates the influence of contact flickering due to the pressing of a button (debouncing). Parameters <PORT> and <Pin> specify the location of the button; parameter <Time> represents the minimum time interval that pin must be in active state in order to return one; parameter <Astate> can be only zero or one, and it specifies if button is active on logical zero or logical one. Example if Button(PORTB, 0, 1, 1) then flag = 255 end if
- 92. 92 Chapter 6: Examples withPIC IntegratedPeripherals Introduction 6.1 InterruptMechanism 6.2 Internal ADConverter 6.3 TMR0 Timer 6.4 TMR1 Timer 6.5 PWMModule 6.6 Hardware UART module (RS-232 Communication) Introduction It is commonly said that microcontroller is an “entire computer on a single chip”, which implies that it has more to offer than a single CPU (microprocessor). This additional functionality is actually located in microcontroller’s subsystems, also called the “integrated peripherals”. These (sub)devices basically have two major roles: they expand the possibilities of the MCU making it more versatile, and they take off the burden for some repetitive and “dumber” tasks (mainly communication) from the CPU. Every microcontroller is supplied with at least a couple of integrated peripherals – commonly, these include timers, interrupt mechanisms and AD converters. More powerful microcontrollers can command a larger number of more diverse peripherals. In this chapter, we will cover some common systems and the ways to utilize them from BASIC programming language. 6.1 Interrupt Mechanism Interrupts are mechanisms which enable instant response to events such as counter overflow, pin change, data received, etc. In normal mode, microcontroller executes the main program as long as there are no occurrences that would cause an interrupt. Upon interrupt, microcontroller stops the execution of main program and commences the special part of the program which will analyze and handle the interrupt. This part of program is known as the interrupt (service) routine. In BASIC, interrupt service routine is defined by procedure with reserved name interrupt. Whatever code is stored in that procedure, it will be executed upon interrupt. First, we need to determine which event caused the interrupt, as PIC microcontroller calls the same interrupt routine regardless of the trigger. After that comes the interrupt handling, which is executing the appropriate code for the trigger event.
- 93. 93 Here is a simple example: In the main loop, program keeps LED_run diode on and LED_int diode off. Pressing the button T causes the interrupt – microcontroller stops executing the main program and starts the interrupt procedure. program testinterrupt symbol LED_run = PORTB.7 ' LED_run is connected to PORTB pin 7 symbol LED_int = PORTB.6 ' LED_int is connected to PORTB pin 6 sub procedure interrupt ' Interrupt service routine if INTCON.RBIF = 1 then ' Changes on RB4-RB7 ? INTCON.RBIF = 0 else if INTCON.INTF = 1 then ' External interupt (RB0 pin) ? LED_run = 0 LED_int = 1 Delay_ms(500) INTCON.INTF = 0 else if INTCON.T0IF = 1 then ' TMR0 interrupt occurred ? INTCON.T0IF = 0 else if INTCON.EEIF = 1 then ' Is EEPROM write cycle finished ? INTCON.EEIF = 0 end if end if end if end if end sub
- 94. 94 main: TRISB = %00111111 ' Pins RB6 and RB7 are output OPTION_REG = %10000000 ' Turn off pull-up resistors ' and set interrupt on falling edge ' of RB0 signal INTCON = %10010000 ' Enable external interrupts PORTB = 0 ' Initial value on PORTB eloop: ' While there is no interrupt, program runs in endless loop: LED_run = 1 ' LED_run is on LED_int = 0 ' LED_int is off goto eloop end. Now, what happens when we push the button? Our interrupt routine first analyzes the interrupt by checking flag bits with couple of if..then instructions, because there are several possible interrupt causes. In our case, an external interrupt took place (pin RB0/INT state changes) and therefore bit INTF in INTCON register is set. Microcontroller will change LED states, and provide a half second delay for us to actually see the change. Then it will clear INTF bit in order to enable interrupts again, and return to executing the main program. In situations where microcontroller must respond to events unrelated to the main program, it is very useful to have an interrupt service routine. Perhaps, one of the best examples is multiplexing the seven-segment display – if multiplexing code is tied to timer interrupt, main program will be much less burdened because display refreshes in the background. 6.2 Internal AD Converter A number of microcontrollers have built in Analog to Digital Converter (ADC). Commonly, these AD converters have 8-bit or 10-bit resolution allowing them voltage sensitivity of 19.5mV or 4.8mV, respectively (assuming that default 5V voltage is used). The simplest AD conversion program would use 8-bit resolution and 5V of microcontroller power as referent voltage (value which the value "read" from the microcontroller pin is compared to). In the following example we measure voltage on RA0 pin which is connected to the potentiometer (see the figure below).
- 95. 95 Potentiometer gives 0V in one terminal position and 5V in the other – since we use 8-bit conversion, our digitalized voltage can have 256 steps. The following program reads voltage on RA0 pin and displays it on port B diodes. If not one diode is on, result is zero and if all of diodes are on, result is 255. program ADC_8 main: TRISA = %111111 ' Port A is input PORTD = 0 TRISD = %00000000 ADCON1 = %1000010 ' Port A is in analog mode, ' 0 and 5V are referent voltage values, ' and the result is aligned right ' (higher 6 bits of ADRESH are zero). ADCON0 = %11010001 ' ADC clock is generated by internal RC ' circuit; voltage is measured on RA2 and ' allows the use of AD converter Delay_ms (500) ' 500 ms pause eloop: ADCON0.2 = 1 ' Conversion starts
- 96. 96 wait: ' wait for ADC to finish Delay_ms(5) if ADCON0.2 = 1 then goto wait end if PORTD = ADRESH ' Set lower 8 bits on port D Delay_ms(500) ' 500 ms pause goto eloop ' Repeat all end. ' End of program. First, we need to properly initialize registers ADCON1 and ADCON0. After that, we set ADCON0.2 bit which initializes the conversion and then check ADCON0.2 to determine if conversion is over. If over, the result is stored into ADRESH and ADRESL where from it can be copied. Former example could also be carried out via ADC_Read instruction. Our following example uses 10-bit resolution: program ADC_10 dim AD_Res as word main: TRISA = %11111111 ' PORTA is input TRISD = %00000000 ' PORTD is output ADCON1 = %1000010 ' PORTA is in analog mode, ' 0 and 5V are referent voltage values, ' and the result is aligned right eloop: AD_Res = ADC_read(2) ' Execute conversion and store result ' in variable AD_Res. PORTD = Lo(AD_Res) ' Display lower byte of result on PORTD Delay_ms(500) ' 500 ms pause goto eloop ' Repeat all end. ' End of program As one port is insufficient, we can use LCD for displaying all 10 bits of result. Connection scheme is below and the appropriate program follows. For more information on LCD routines, check Chapter 5.2: Library Routines.
- 97. 97 program ADC_on_LCD dim AD_Res as word dim dummyCh as char[6] main: TRISA = %1111111 ' PORTA is input TRISB = 0 ' PORTB is output (for LCD) ADCON1 = %10000010 ' PORTA is in analog mode, ' 0 and 5V are referent voltage values, ' and the result is aligned right. Lcd_Init(PORTB) ' Initialize LCD Lcd_Cmd(LCD_CLEAR) ' Clear LCD Lcd_Cmd(LCD_CURSOR_OFF) ' and turn the cursor off eloop: AD_Res = ADC_Read(2) ' Execute conversion and store result ' to variable AD_Res LCD_Out(1, 1, " ") ' Clear LCD from previous result WordToStr(AD_Res, dummyCh) ' Convert the result in text, LCD_Out(1, 1, dummyCh) ' and print it in line 1, char 1 Delay_ms(500) ' 500 ms pause goto eloop ' Repeat all end. ' End of program
- 98. 98 6.3 TMR0 Timer TMR0 timer is an 8-bit special function register with working range of 256. Assuming that 4MHz oscillator is used, TMR0 can measure 0-255 microseconds range (at 4MHz, TMR0 increments by one microsecond). This period can be increased if prescaler is used. Prescaler divides clock in a certain ratio (prescaler settings are made in OPTION_REG register). Our following program example shows how to generate 1 second using TMR0 timer. For visual purposes, program toggles LEDs on PORTB every second. Before the main program, TMR0 should have interrupt enabled (bit 2) and GIE bit (bit 7) in INTCON register should be set. This will enable global interrupts. program Timer0_1sec dim cnt as byte dim a as byte dim b as byte sub procedure interrupt cnt = cnt + 1 ' Increment value of cnt on every interrupt TMR0 = 96 INTCON = $20 ' Set T0IE, clear T0IF end sub main: a = 0 b = 1 OPTION_REG = $84 ' Assign prescaler to TMR0 TRISB = 0 ' PORTB as output PORTB = $FF ' Initialize PORTB cnt = 0 ' Initialize cnt TMR0 = 96 INTCON = $A0 ' Enable TMRO interrupt ' If cnt is 200, then toggle PORTB LEDs and reset cnt do if cnt = 200 then PORTB = not(PORTB) cnt = 0 end if loop until 0 = 1 end. Prescaler is set to 32, so that internal clock is divided by 32 and TMR0 increments every 31 microseconds. If TMR0 is initialized at 96, overflow occurs in (256-96)*31 us = 5 ms. We increase cnt every time interrupt takes place, effectively measuring time according to the value of this variable. When cnt reaches 200, time will total 200*5 ms = 1 second.
- 99. 99 6.4 TMR1 Timer TMR1 timer is a 16-bit special function register with working range of 65536. Assuming that 4MHz oscillator is used, TMR1 can measure 0-65535 microseconds range (at 4MHz, TMR1 increments by one microsecond). This period can be increased if prescaler is used. Prescaler divides clock in a certain ratio (prescaler settings are made in T1CON register). Before the main program, TMR1 should be enabled by setting the zero bit in T1CON register. First bit of the register defines the internal clock for TMR1 – we set it to zero. Other important registers for working with TMR1 are PIR1 and PIE1. The first contains overflow flag (zero bit) and the other is used to enable TMR1 interrupt (zero bit). With TMR1 interrupt enabled and its flag cleared, we only need to enable global interrupts and peripheral interrupts in the INTCON register (bits 7 and 6, respectively). Our following program example shows how to generate 10 seconds using TMR1 timer. For visual purposes, program toggles LEDs on PORTB every 10 seconds. program Timer1_10sec dim cnt as byte sub procedure interrupt cnt = cnt + 1 pir1.0 = 0 ' Clear TMR1IF end sub main: TRISB = 0 T1CON = 1 PIR1.TMR1IF = 0 ' Clear TMR1IF PIE1 = 1 ' Enable interrupts PORTB = $F0 cnt = 0 ' Initialize cnt INTCON = $C0 ' If cnt is 152, then toggle PORTB LEDs and reset cnt do if cnt = 152 then PORTB = not(PORTB) cnt = 0 end if loop until 0 = 1 end. Prescaler is set to 00 so there is no dividing the internal clock and overflow occurs every 65.536 ms. We increase cnt every time interrupt takes place, effectively measuring time according to the value of this variable. When cnt reaches 152, time will total 152*65.536 ms = 9.96 seconds.
- 100. 100 6.5 PWM Module Microcontrollers of PIC16F87X series have one or two built-in PWM outputs (40-pin casing allows 2, 28-pin casing allows 1). PWM outputs are located on RC1 and RC2 pins (40-pin MCUs), or on RC2 pin (28-pin MCUs). Refer to PWM library (Chapter 5.2: Library Routines) for more information. The following example uses PWM library for getting various light intensities on LED connected to RC2 pin. Variable which represents the ratio of on to off signals is continually increased in the loop, taking values from 0 to 255. This results in continual intensifying of light on LED diode. After value of 255 has been reached, process begins anew. program PWM_LED_Test dim j as byte main: TRISB = 0 ' PORTB is output PORTB = 0 ' Set PORTB to 0 j = 0 TRISC = 0 ' PORTC is output PORTC = $FF ' Set PORTC to $FF PWM_Init(5000) ' Initialize PWM module PWM_Start ' Start PWM while true ' Endless loop Delay_ms(10) ' Wait 10ms j = j + 1 ' Increment j PWM_Change_Duty(j) ' Set new duty ratio PORTB = CCPR1L ' Send value of CCPR1L to PORTB wend end. 6.6 Hardware UART module (RS-232 Communication) The easiest way to transfer data between microcontroller and some other device, e.g. PC or other microcontroller, is the RS-232 communication (also referred to as EIA RS-232C or V.24). RS232 is a standard for serial binary data interchange between a DTE (Data terminal equipment) and a DCE (Data communication equipment), commonly used in personal computer serial ports. It is a serial asynchronous 2-line (Tx for transmitting and Rx for receiving) communication with effective range of 10 meters. Microcontroller can establish communication with serial RS-232 line via hardware UART (Universal Asynchronous Receiver Transmitter) which is an integral part of PIC16F87X microcontrollers. UART contains special buffer registers for receiving and transmitting data as well as a Baud Rate generator for setting the transfer rate. This example shows data transfer between the microcontroller and PC connected by RS-232 line interface MAX232 which has role of adjusting signal levels on the microcontroller side (it converts RS-232 voltage levels +/- 10V to TTL levels 0-5V and vice versa).
- 101. 101 Our following program example illustrates use of hardware serial communication. Data received from PC is stored into variable dat and sent back to PC as confirmation of successful transfer. Thus, it is easy to check if communication works properly. Transfer format is 8N1 and transfer rate is 2400 baud. program USART_Echo dim dat as byte main: USART_Init(2400) ' Initialize USART module while true if USART_Data_Ready = 1 then ' If data is received dat = USART_Read ' Read the received data USART_Write(dat) ' Send data via USART end if wend end. In order to establish the communication, PC must have a communication software installed. One such communication terminal is part of mikroBasic IDE. It can be accessed by clicking Tools > Terminal from the drop-down menu. Terminal allows you to monitor transfer and to set all the necessary transfer settings. First of all, we need to set the transfer rate to 2400 to match the microcontroller's rate. Then, select the appropriate communication port by clicking one of the 4 available (check where you plugged the serial cable).
- 102. 102 After making these adjustments, clicking Connect starts the communication. Type your message and click Send Message – message will be sent to the microcontroller and back, where it will be displayed on the screen. Note that serial communication can also be software based on any of 2 microcontroller pins – for more information, check the Chapter 9: Communications.
- 103. 103 Chapter 7: Examples withDisplaying Data Introduction 7.1 LED Diode 7.2 Seven-SegmentDisplay 7.3 LCD Display,4-bitand8-bitInterface 7.4 Graphical LCD 7.5 SoundSignalization Introduction Microcontrollers deal very well with 0’s and 1’s, but humans do not. We need indicator lights, numbers, letters, charts, beepers… In order to comprehend the information presented quicker and better, we need that information to be displayed to us in many different ways. In practice, human - machine communication can require substantial (machine) resources, so it is sometimes better to dedicate an entire microcontroller to that task. This device is then called the Human - Machine Interface or simply HMI. The second microcontroller is then required to get the human wishes from HMI, “do the job” and put the results back to HMI, so that operator can see it. Clearly, the most important form of communication between the microcontroller system and a man is the visual communication. In this chapter we will discuss various ways of displaying data, from the simplest to more elaborate ones. You’ll see how to use LED diodes, Seven- Segment Displays, character- and graphic LCDs. We will also consider using BASIC for sound signalization necessary in certain applications. Just remember: the more profound communication you wish to be, the more MCU resources it’ll take. 7.1 LED Diode One of the most frequently used components in electronics is surely the LED diode (LED stands for Light Emitting Diode). Some of common LED diode features include: size, shape, color, working voltage (Diode voltage) Ud and electric current Id. LED diode can be round, rectangular or triangular in shape, although manufacturers of these components can produce any shape needed for specific purposes. Size i.e. diameter of round LED diodes ranges from 3 to 12 mm, with 3 - 5 mm sizes most commonly used. Common colors include red, yellow, green, orange, blue, etc. Working voltage is 1.7V for red, 2.1V for green and 2.3 for orange color. This voltage can be higher depending on the manufacturer. Normal current Id through diode is 10 mA, while maximal current reaches 25 mA. High current consumption can present problem to devices with battery power supply, so in that case low current LED diode (Id ~ 1-2 mA) should be used. For LED diode to emit light with maximum capacity, it is necessary to connect it properly or it might get damaged.
- 104. 104 The positive pole is connected to anode, while ground is connected to cathode. For matter of differentiating the two, cathode is marked by mark on casing and shorter pin. Diode will emit light only if current flows from anode to cathode; in the other case there will be no current. Resistor is added serial to LED diode, limiting the maximal current through diode and protecting it from damage. Resistor value can be calculated from the equation on the picture above, where Ur represents voltage on resistor. For +5V power supply and 10 mA current resistor used should have value of 330Ώ. LED diode can be connected to microcontroller in two ways. One way is to have microcontroller "turning on" LED diode with logical one and the other way is with logical zero. The first way is not so frequent (which doesn't mean it doesn't have applications) because it requires the microcontroller to be diode current source. The second way works with higher current LED diodes.
- 105. 105
- 106. 106 The following example toggles LEDs of PORTB every second. program LED_Blinking main: TRISB = 0 ' PORTB is output PORTB = %11111111 ' Turn ON diodes on PORTB Delay_ms(1000) ' Wait for 1 second PORTB = %00000000 ' Turn OFF diodes on PORTB Delay_ms(1000) ' Wait for 1 second goto main ' Endless loop end. 7.2 Seven-Segment Displays Seven-segment digits represent more advanced form of visual communication. The name comes from the seven diodes (there is an eighth diode for a dot) arranged to form decimal digits from 0 to 9. Appearance of a seven-segment digit is given on a picture below. As seven-segment digits have better temperature tolerance and visibility than LCD displays, they are very common in industrial applications. Their use satisfies all criteria including the financial one. They are commonly used for displaying value read from sensors, etc. One of the ways to connect seven-segment display to the microcontroller is given in the figure below. System is connected to use seven-segment digits with common cathode. This means that segments emit light when logical one is brought to them, and that output of all segments must be a transistor connected to common cathode, as shown on the picture. If transistor is in conducting mode any segment with logical one will emit light, and if not no segment will emit light, regardless of its pin state.
- 107. 107 Bases of transistors T1 and T2 are connected to pin0 and pin1 of PORTA. Setting those pins turns on the transistor, allowing every segment from "a" to "h", with logical one on it, to emit light. If zero is on transistor base, none of the segments will emit light, regardless of the pin state. Using the previous scheme, we could display a sequence of nine digits like this: program seven_seg_onedigit dim i as byte ' Function mask returns mask of parameter 'num' ' for common cathode 7-seg. display sub function mask(dim num as byte) as byte select case num case 0 result = $3F case 1 result = $06 case 2 result = $5B case 3 result = $4F case 4 result = $66 case 5 result = $6D case 6 result = $7D case 7 result = $07 case 8 result = $7F case 9 result = $6F end select
- 108. 108 end sub main: INTCON = 0 ' Disable PEIE, INTE, RBIE, T0IE TRISA = 0 TRISB = 0 PORTB = 0 PORTA = 2 do for i = 0 to 9 PORTB = mask(i) Delay_ms(1000) next i loop until false ' Endless loop end. Purpose of the program is to display numbers 0 to 9 on the ones digit, with 1 second delay. In order to display a number, its mask must be sent to PORTB. For example, if we need to display "1", segments b and c must be set to 1 and the rest must be zero. If (according to the scheme above) segments b and c are connected to the first and the second pin of PORTB, values 0000 and 0110 should be set to PORTB. Thus, mask for number "1" is value 0000 0110 or 06 hexadecimal. The following table contains corresponding mask values for numbers 0-9: Digit Seg. h Seg. g Seg. f Seg. e Seg. d Seg. c Seg. b Seg. a HEX 0 0 0 1 1 1 1 1 1 $3F 1 0 0 0 0 0 1 1 0 $06 2 0 1 0 1 1 0 1 1 $5B 3 0 1 0 0 1 1 1 1 $4F 4 0 1 1 0 0 1 1 0 $66 5 0 1 1 0 1 1 0 1 $6D 6 0 1 1 1 1 1 0 1 $7D 7 0 0 0 0 0 1 1 1 $07 8 0 1 1 1 1 1 1 1 $7F 9 0 1 1 0 1 1 1 1 $6F
- 109. 109 You are not, however, limited to displaying digits. You can use 7seg Display Decoder, a built-in tool of mikroBasic, to get hex code of any other viable combination of segments you would like to display. But what do we do when we need to display more than one digit on two or more displays? We have to put a mask on one digit quickly enough and activate its transistor, then put the second mask and activate the second transistor (of course, if one of the transistors is in conducting mode, the other should not work because both digits will display the same value). The process is known as “multiplexing”: digits are displayed in a way that human eye gets impression of simultaneous display of both digits – actually only one display emits at any given moment. Now, let’s say we need to display number 38. First, the number should be separated into tens and ones (in this case, digits 3 and 8) and their masks sent to PORTB. The rest of the program is very similar to the last example, except for having one transition caused by displaying one digit after another: program seven_seg_twodigits dim v as byte dim por1 as byte dim por2 as byte sub procedure interrupt begin if v = 0 then PORTB = por2 ' Send mask of tens to PORTB PORTA = 1 ' Turn on 1st 7seg, turn off 2nd v = 1 else PORTB = por1 ' Send mask of ones to PORTB PORTA = 2 ' Turn on 2nd 7seg, turn off 1st v = 0 end if TMR0 = 0 ' Clear TMRO INTCON = $20 ' Clear TMR0IF and set TMR0IE end sub main: OPTION_REG = $80 ' Pull-up resistors TRISA = 0 ' PORTA is output TRISB = 0 ' PORTB is output PORTB = 0 ' Clear PORTB (make sure LEDs are off) PORTA = 0 ' Clear PORTA (make sure both displays are off) TMR0 = 0 ' Clear TMRO por1 = $7F ' Mask for '8' (check the table above) por2 = $4F ' Mask for '3' (check the table above) INTCON = $A0 ' Enable T0IE while true ' Endless loop, wait for interrupt nop wend end.
- 110. 110 The multiplexing problem is solved for now, but your program probably doesn’t have a sole purpose of printing constant values on 7seg display. It is usually just a subroutine for displaying certain information. However, this approach to printing data on display has proven sto be very convenient for more complicated programs. You can also move part of the program for refreshing the digits (handling the masks) to the interrupt routine. The following example increases variable i from 0 to 99 and prints it on displays. After reaching 99, counter begins anew. program seven_seg_counting dim i as byte dim j as byte dim v as byte dim por1 as byte dim por2 as byte ' This function returns masks ' for common cathode 7-seg display sub function mask(dim num as byte) as byte select case num case 0 result = $3F case 1 result = $06 case 2 result = $5B case 3 result = $4F case 4 result = $66 case 5 result = $6D case 6 result = $7D case 7 result = $07 case 8 result = $7F case 9 result = $6F end select end sub sub procedure interrupt if v = 0 then PORTB = por2 ' Prepare mask for digit PORTA = 1 ' Turn on 1st, turn off 2nd 7seg v = 1 else PORTB = por1 ' Prepare mask for digit PORTA = 2 ' Turn on 2nd, turn off 1st 7seg v = 0 end if TMR0 = 0 INTCON = $20 end sub main: OPTION_REG = $80 por2 = $3F j = 0 TMR0 = 0
- 111. 111 INTCON = $A0 ' Disable PEIE, INTE, RBIE, T0IE TRISA = 0 TRISB = 0 PORTB = 0 PORTA = 0 do for i = 0 to 99 ' Count from 0 to 99 ' Prepare ones digit j = i mod 10 por1 = mask(j) ' Prepare tens digit j = (i div 10) mod 10 por2 = mask(j) Delay_ms(1000) next i loop until false end. In the course of the main program, programmer doesn’t need to worry of refreshing the display. Just call the subroutine mask every time display needs to change. 7.3 LCD Display, 4-bit and 8-bit Interface One of the best solutions for devices that require visualizing the data is the “smart” Liquid Crystal Display (LCD). This type of display consists of 7x5 dot segments arranged in rows. One row can consist of 8, 16, 20, or 40 segments, and LCD display can have 1, 2, or 4 rows.
- 112. 112 LCD connects to microcontroller via 4-bit or 8-bit bus (4 or 8 lines). R/W signal is on the ground, because communication is one-way (toward LCD). Some displays have built-in backlight that can be turned on with RD1 pin via PNP transistor BC557. Our following example prints text on LCD via 4-bit interface. Assumed pin configuration is default. program LCD_default_test dim Text as char[20] main: TRISB = 0 ' PORTB is output LCD_Init(PORTB) ' Initialize LCD at PORTB LCD_Cmd(LCD_CURSOR_OFF) ' Turn off cursor Text = "mikroelektronika" LCD_Out(1, 1, Text) ' Print text at LCD end. Our second example prints text on LCD via 8-bit interface, with custom pin configuration. program Lcd8_default_test dim text as char[20] main: TRISB = 0 ' PORTB is output TRISD = 0 ' PORTD is output Lcd8_Init(PORTB, PORTD) ' Initialize LCD at PORTB and PORTD Lcd8_Cmd(Lcd_CURSOR_OFF) ' Turn off cursor text = "mikroElektronika" Lcd8_Out(1, 1, text) ' Print text at LCD end.
- 113. 113 7.4 Graphical LCD (PIC18 only) Most commonly used Graphical LCD (GLCD) has screen resolution of 128x64 pixels. This allows creating more elaborate visual messages than usual LCD can provide, involving drawings and bitmaps. The following figure shows GLCD HW connection by default initialization (using GLCD_LCD_Init routine); if you need different pin settings, refer to GLCD_LCD_Config.
- 114. 114 BASIC offers a comprehensive library for GLCD – refer to Chapter 5: Built-in and Library Routines for more information. Our following example demonstrates the possibilities of GLCD and the mentioned library. Note that the library works with PIC18 only. program GLCD_test ' For PIC18 include "GLCD_128x64.pbas" ' You need to include GLCD_128x64 library dim text as string[25] main: PORTC = 0 PORTB = 0 PORTD = 0 TRISC = 0 TRISD = 0 TRISB = 0 GLCD_LCD_Init(PORTC, PORTD) ' default settings GLCD_Set_Font(FONT_NORMAL1) while true GLCD_Clear_Screen ' Draw Circles GLCD_Clear_Screen
- 115. 115 text = "Circle" GLCD_Put_Text(0, 7, text, NONINVERTED_TEXT) GLCD_Circle(63,31,10) Delay_Ms(4000) ' Draw Rectangles GLCD_Clear_Screen text = "Rectangle" GLCD_Put_Text(0, 7, text, NONINVERTED_TEXT) GLCD_Rectangle(10, 0, 30, 35) Delay_Ms(4000) GLCD_Clear_Screen ' Draw Lines GLCD_Clear_Screen text = "Line" GLCD_Put_Text(55, 7, text, NONINVERTED_TEXT) GLCD_Line(0, 0, 127, 50) GLCD_Line(0,63, 50, 0) Delay_Ms(5000) ' Fonts Demo GLCD_Clear_Screen text = "Fonts DEMO" GLCD_Set_Font(FONT_TINY) GLCD_Put_Text(0, 4, text, NONINVERTED_TEXT) GLCD_Put_Text(0, 5, text, INVERTED_TEXT) GLCD_Set_Font(FONT_BIG) GLCD_Put_Text(0, 6, text, NONINVERTED_TEXT) GLCD_Put_Text(0, 7, text, INVERTED_TEXT) Delay_ms(5000) wend end. 7.5 Sound Signalization Some applications require sound signalization in addition to visual or instead of it. It is commonly used to alert or announce the termination of some long, time-consuming process. The information presented by such means is fairly simple, but relieves the user from having to constantly look into displays and dials. BASIC’s Sound library facilitates generating sound signals and output on specified port. We will present a simple demonstration using piezzo speaker connected to microcontroller’s port. program Sound ' The following three tones are calculated for 4MHz crystal sub procedure Tone1 Sound_Play(200, 200) ' Period = 2ms <=> 500Hz, Duration = 200 periods
- 116. 116 end sub sub procedure Tone2 Sound_Play(180, 200) ' Period = 1.8ms <=> 555Hz end sub sub procedure Tone3 Sound_Play(160, 200) ' Period = 1.6ms <=> 625Hz end sub sub procedure Melody ' Plays the melody "Yellow house" Tone1 Tone2 Tone3 Tone3 Tone1 Tone2 Tone3 Tone3 Tone1 Tone2 Tone3 Tone1 Tone2 Tone3 Tone3 Tone1 Tone2 Tone3 Tone3 Tone3 Tone2 Tone1 end sub main: TRISB = $F0 Sound_Init(PORTB, 2) ' Connect speaker on pins RB2 and GND Sound_Play(50, 100) while true if Button(PORTB,7,1,1) then ' RB7 plays Tone1 Tone1 end if while TestBit(PORTB,7) = 1 ' Wait for button to be released nop wend if Button(PORTB,6,1,1) then ' RB6 plays Tone2 Tone2 end if while TestBit(PORTB,6) = 1 ' Wait for button to be released nop
- 117. 117 wend if Button(PORTB,5,1,1) then ' RB5 plays Tone3 Tone3 end if while TestBit(PORTB,5) = 1 ' Wait for button to be released nop wend if Button(PORTB,4,1,1) then ' RB4 plays Melody Melody end if while TestBit(PORTB,4) = 1 ' Wait for button to be released nop wend wend end.
- 118. 118 Chapter 8: Examples withMemory and Storage Media Introduction 8.1 EEPROMMemory 8.2 FlashMemory 8.3 CompactFlash Introduction There is no program on this world that doesn’t interact with memory in some way. First, during its execution, it retains the operational data from, uses or alters it, and puts it back into the program memory. Second, it is often necessary to store and handle large amount of data that can be obtained from various sources, whether it is the car engine temperature acquisition data or some bitmap image to be displayed on the GLCD. In this chapter we will focus on the latter problem, i.e. we’ll go through the techniques of manipulating data on the so-called memory storage devices and systems. 8.1 EEPROM Memory Data used by microcontroller is stored in the RAM memory as long as there is a power supply present. If we need to keep the data for later use, it has to be stored in a permanent memory. An EEPROM (E²PROM), or Electrically-Erasable Programmable Read-Only Memory is a non-volatile storage chip, commonly used with PIC microcontrollers for this purpose. An EEPROM can be programmed and erased multiple times electrically – it may be erased and reprogrammed only a certain number of times, ranging from 100,000 to 1,000,000, but it can be read an unlimited number of times. 8.1.1 Internal EEPROM Some PIC microcontrollers have internal EEPROM allowing you to store information without any external hardware. BASIC has a library for working with internal EEPROM which makes writing and reading data very easy. Library function EEPROM_Read reads data from a specified address, while library procedure EEPROM_Write writes data to the specified address. Note: Be aware that all interrupts will be disabled during execution of EEPROM_Write routine (GIE bit of INTCON register will be cleared). Routine will set this bit on exit. Ensure minimum 20ms delay between successive use of routines EEPROM_Write and EEPROM_Read. Although EEPROM will write the correct value, EEPROM_Read might return undefined result. In our following example, we will write a sequence of numbers to successive locations in EEPROM. Afterwards, we’ll read these and output to PORTB to verify the process. program EEPROM_test dim i as byte
- 119. 119 dim j as byte main: TRISB = 0 for i = 0 to 20 EEPROM_Write(i, i + 6) next i Delay_ms(30) for i = 0 to 20 PORTB = EEPROM_Read(i) for j = 0 to 200 Delay_us(500) next j next i end. 8.1.2 Serial EEPROM Occasionally, our needs will exceed the capacity of PIC’s internal EEPROM. When we need to store a larger amount of data obtained by PIC, we have an option of using external serial EEPROM. Serial means that EEPROM uses one of the serial protocols (I2C, SPI, microwire) for communication with microcontroller. In our example, we will work with EEPROM from 24Cxx family which uses two lines and I2C protocol for communication with MCU. Serial EEPROM connects to microcontroller via SCL and SDA lines. SCL line is a clock for synchronizing the transfer via SDA line, with frequency going up to 1MHz.
- 120. 120 I2C communication allows connecting multiple devices on a single line. Therefore, bits A1 and A0 have an option of assigning addresses to certain I2C devices by connecting the pins A1 and A0 to the ground and +5V (one I2C line could be EEPROM on address $A2 and, say, real time clock PCF8583 on address $A0). R/W bit of address byte selects the operation of reading or writing data to memory. More detailed data on I2C communication can be found in the technical documentation of any I2C device. Our following program sends data to EEPROM at address 2. To verify transfer, we’ll read data via I2C from EEPROM and send its value to PORTD. For more information on I2C Library consult Chapter 5: Built-in and Library Routines. program EEPROM_test dim EE_adr as byte dim EE_data as byte dim jj as word main: I2C_init(100000) ' Initialize full master mode TRISD = 0 ' PORTD is output PORTD = $ff ' Initialize PORTD I2C_Start ' Issue I2C start signal I2C_Wr($a2) ' Send byte via I2C(command to 24cO2) EE_adr = 2 I2C_Wr(EE_adr) ' Send byte(address of EEPROM) EE_data = $aa I2C_Wr(EE_data) ' Send data(data that will be written) I2C_Stop ' Issue I2C stop signal for jj = 0 to 65500 ' Pause while EEPROM writes data nop next jj I2C_Start ' Issue I2C start signal I2C_Wr($a2) ' Send byte via I2C EE_adr = 2 I2C_Wr(EE_adr) ' Send byte(address for EEPROM) I2C_Repeated_Start ' Issue I2C repeated start signal I2C_Wr($a3) ' Send byte(request data from EEPROM) EE_data = I2C_Rd(1) ' Read the data I2C_Stop ' Issue I2C_Stop signal PORTD = EE_data ' Print data on PORTD noend: ' Endless loop goto noend end.
- 121. 121 8.2 Flash Memory Flash memory is a form of EEPROM that allows multiple memory locations to be erased or written in one programming operation. Normal EEPROM only allows one location at a time to be erased or written, meaning that Flash can operate at higher effective speeds when the systems using it read and write to different locations at the same time. Flash memory stores information on a silicon chip in a way that does not need power to maintain the information in the chip. This means that if you turn off the power to the chip, the information is retained without consuming any power. In addition, Flash offers fast read access times and solid-state shock resistance. These characteristics make it very popular for microcontroller applications and for applications such as storage on battery-powered devices like cell phones. Many modern PIC microcontrollers utilize Flash memory, usually in addition to normal EEPROM storage chip. Therefore, BASIC provides a library for direct accessing and working with MCU’s Flash. Note: Routines differ for PIC16 and PIC18 families, please refer to Chapter 5: Built-in and Library Routines. The following code demonstrates use of Flash Memory library routines: ' for PIC18 program flash_pic18_test const FLASH_ERROR = $FF const FLASH_OK = $AA dim toRead as byte dim i as byte dim toWrite as byte[64] main: TRISB = 0 ' PORTB is output for i = 0 to 63 ' initialize array toWrite[i] = i next i Flash_Write($0D00, toWrite) ' write contents of the array to the address 0x0D00 ' verify write PORTB = 0 ' turn off PORTB toRead = FLASH_ERROR ' initialize error state for i = 0 to 63 toRead = Flash_Read($0D00+i) ' read 64 consecutive locations starting from 0x0D00 if toRead <> toWrite[i] then ' stop on first error PORTB = FLASH_ERROR ' indicate error Delay_ms(500) else PORTB = FLASH_OK ' indicate there is no error end if next i end.
- 122. 122 For PIC16 family, the corresponding code looks like this: ' for PIC16 program flash_pic16_test const FLASH_ERROR = $FF const FLASH_OK = $AA dim toRead as word dim i as word main: TRISB = 0 ' PORTB is output for i = 0 to 63 Flash_Write(i+$0A00, i) ' write the value of i starting from the address 0x0A00 next i ' verify write PORTB = 0 ' turn off PORTB toRead = FLASH_ERROR ' initialize error state for i = 0 to 63 toRead = Flash_Read($0A00+i) ' Read 64 consecutive locations starting from 0x0A00 if toRead <> i then ' Stop on first error i = i + $0A00 ' i contains the address of the erroneous location PORTB = FLASH_ERROR ' indicate error Delay_ms(500) else PORTB = FLASH_OK ' indicate there is no error end if next i end. 8.3 Compact Flash Compact Flash (CF) was originally a type of data storage device, used in portable electronic devices. As a storage device, it typically uses Flash memory in a standardized enclosure. At present, the physical format is used in handheld and laptop computers, digital cameras, and a wide variety of other devices, including desktop computers. Great capacity (8MB ~ 8GB, and more) and excellent access time of typically few microseconds make them very attractive for microcontroller applications. Flash memory devices are non-volatile and solid state, and thus are more robust than disk drives, consuming only about 5% of the power required by small disk drives. They operate at 3.3 volts or 5 volts, and can be swapped from system to system. CF cards are able to cope with extremely rapid changes in temperature – industrial versions of flash memory cards can operate at a range of -45°C to +85°C. BASIC includes a library for accessing and handling data on Compact Flash card. In CF card, data is divided into sectors, one sector usually comprising 512 bytes (few older models have sectors of 256B). Read and write operations are not performed directly, but successively
- 123. 123 through 512B buffer. These routines are intented for use with CF that have FAT16 and FAT32 file system. Note: routines for file handling (CF_File_Write_Init, CF_File_Write_Byte, CF_File_Write_Complete) can only be used with FAT16 file system, and only with PIC18 family! File accessing routines can write file. File names must be exactly 8 characters long and written in uppercase. User must ensure different names for each file, as CF routines will not check for possible match. Before write operation, make sure you don't overwrite boot or FAT sector as it could make your card on PC or digital cam unreadable. Drive mapping tools, such as Winhex, can be of a great assistance. Here’s an example for using Compact Flash card from BASIC. A set of files is written on CF card. This can be checked later by plugging the CF card on a PC or a digital camera. Observe the way the file is being written:
- 124. 124 First,write-to-file isinitialized,tellingtoPICthat all consecutive CF_File_Write_Byte instructionswillwrite toanewfile; Then,actual write of data is performed(with CF_File_Write_Byte); Finally,finishof write-to-file cycle issignallizedwith call toCF_File_Write_Complete routine.Atthatmoment,the newlycreatedfileisgivenitsname. program CompactFlash_File ' for PIC18 dim i1 as word dim index as byte dim fname as char[9] dim ext as char[4] sub procedure Init TRISC = 0 ' PORTC is output. We'll use it only to signal ' end of our program. CF_Init_Port(PORTB, PORTD) ' Initialize ports do nop loop until CF_DETECT(PORTB) = true ' Wait until CF card is inserted Delay_ms(50) ' Wait for a while until the card is stabilized end sub ' i.e. its power supply is stable and CF card ' controller is on main: ext = "txt" ' File extensions will be "txt" index = 0 ' Index of file to be written while index < 5 PORTC = 0 Init PORTC = index CF_File_Write_Init(PORTB, PORTD) ' Initialization for writing to new file i1 = 0 while i1 < 50000 CF_File_Write_Byte(PORTB,PORTD,48+index) ' Writes 50000 bytes to file inc(i1) wend fname = "RILEPROX" ' Must be 8 character long in upper case fname[8] = 48 + index ' Ensure that files have different name CF_File_Write_Complete(PORTB,PORTD, fname, ext) ' Close the file Inc(index) wend PORTC = $FF end. If you do not wish to use your CF card in PCs and digicams but ruther as a simple storage device for your PIC MCU only, you can then ignore the entire FAT system and store data directly to CF memory sectors:
- 125. 125 program cf_test dim i as word main: TRISC = 0 ' PORTC is output CF_Init_Port(PORTB,PORTD) ' Initialize ports do nop loop until CF_Detect(PORTB) = true ' Wait until CF card is inserted Delay_ms(500) CF_Write_Init(PORTB, PORTD, 590, 1) ' Initialize write at sector address 590 ' of 1 sector (512 bytes) for i = 0 to 511 ' Write 512 bytes to sector (590) CF_Write_Byte(PORTB, PORTD, i + 11) next i PORTC = $FF Delay_ms(1000) CF_Read_Init(PORTB, PORTD, 590, 1) ' Initialize write at sector address 590 ' of 1 sector (512 bytes) for i = 0 to 511 ' Read 512 bytes from sector (590) PORTC = CF_Read_Byte(PORTB, PORTD) ' and display it on PORTC Delay_ms(1000) next i end.
- 126. 126 Chapter 9: Communications Introduction 9.1 USART and Software UART 9.2 SPIand Software SPI 9.3 I2C and Software I2C 9.4 ManchesterCode 9.5 RS485 9.6 OneWire 9.7 CAN & CANSPI Introduction When you start writing real-life programs for PIC, you may soon find yourself having a “lack of space” feeling, that you need just a few more pins and a couple of dozens of bytes to do the job. You might want to solve this problem by transferring to bigger PIC, and the problem will be solved… for a little while. Or, you just happened to have found a beautiful, brand- new humidity sensor that does “all the job by itself”, leaving you just to connect it to PIC and pick up the data… That is, if you know how to do that. If you’ve come up with these or similar problems, it really is time for you to teach your PIC and yourself some communication lessons. There are many ways for two machines to communicate these days, and PICs are generally well equipped for the task. Depending on the job to be done, data exchange – what communication basically is – can be done in a fairly simple manner, such as the SPI communication, but can extend to an entire network of various devices – MCUs, PCs, cameras, “intelligent” sensors, etc. With increased demands, rules of device behaviour must encompass a wider set of possible scenarios and therefore protocols dramatically grow in complexity (CAN, for instance). Consider your needs carefully before jumping to CAN-driven solutions. There are different communication methods, offering lot of possibilities at varying levels of complexity. The rule of “sacred simplicity” remains here as well: do not use more complex communication tools than you really need to! In this chapter, you’ll get yourself acquainted with various means of communication that are being used by the PIC MCUs, and the ways to access and extend them from the BASIC programming language. You may have already noticed that some of the communication devices also have their software counterparts, meaning you can have the same communication functionality that is achieved through a set of software routines that can be used through the BASIC programming language. You should be using software communication when you have utilized all the real (hardware) communication resouces but still need an extra communication line.
- 127. 127 9.1 USART and Software UART 9.1.1 USART USART stands for the Universal Synchronous/Asynchronous Receiver/Transmitter. It may sound mysterious, but actually this is the most frequent communication device used today throughout the computer world: microcontrollers, (some) cell phones, barcode readers, PCs… First, let’s see what all those words stand for: Universal meansthatit can be usedwithawide scope of devices Synchronous/Asynchronousshowswhetherornot the devicesthatcommunicate witheach otherrequire anexternal synchronizationline(the clock).Thisdevice,presentinmostPICs, can do it bothway.The Asynchronousmode (withoutthe commonclock) iseasierto implement,althoughitisgenerallyslowerthanthe synchronous.Itisalsothe olderway – olderversionsof PICdidnothave the possibilityof workinginsynchronousmode,therefore the devicestheyhadwere more appropriatelynamedasUART(withoutS) Receiver/Transmittermeansthatthisdevice can receive andtransmit(send)data simultaneously.Itisalsocalledthe two-wayorduplex communication. The USART itself can be set to communicate in many ways. The most frequent one is, of course, the one that helps your PIC talk to the PC. This old standard, known as the RS232, is understood by the 99.9% of PCs, although is lately being superseded by the USB standard. You can see from the image below how to connect your PIC to PC. You have to add an extra IC in between (MAX232) that simply adjusts the USART voltage levels to those required by the RS232 standard.
- 128. 128 As you can see, you need two wires for this communication: one to receive data (named Rx), and the other one to send (transmit) it (Tx). Here follows a simple BASIC program that gets (receives) data from the PC and sends it back to it: program RS232com dim received_byte as byte main: USART_Init(2400) ' Initialize USART module while true if USART_Data_Ready = 1 then ' If data is received received_byte = USART_Read ' read received data, USART_Write(Received_byte) ' send it back via USART end if wend end. When you compile this program and write it into the PIC, you can open some communication terminal program on your PC, such as Windows Terminal, set up the connection parameters, open connection, and send some characters to PIC. If everything is OK, it will send you that same data back. 9.1.2 Software UART If you have used up hardware USART and need another communication channel (for example if you wish to communicate with two PCs) or you do not have an USART device at all (on smaller PICs), you can use the software UART. As its name implies, it uses a set of software routines to simulate the real, hardware UART device. Working with software UART is almost the same as it is with USART, the only difference being the initialization. You can see it from the following example: program soft_uart_test dim received_byte as byte dim rec_ok as byte main: Soft_UART_Init(PORTB, 1, 2, 2400) ' initialize software UART ' you have to tell PIC which pins ' to use as Rx and Tx while true do received_byte = Soft_UART_Read(Rec_ok) ' read received data loop until rec_ok Soft_UART_write(received_byte) ' send data via UART wend end.
- 129. 129 9.2 SPI and Software SPI SPI or Serial Peripheral Interface is probably the simplest communication style between your PIC and the outside world. It is, however, limited to communicating between the chips, meaning that cables have to be as short as possible. The basic idea is to allow for two chips to exchange information in a master-slave manner, the master initializing communication, selecting the slave to communicate with, and providing a clock for synchronization. In most cases your PIC will be the master and will ask other, less “intelligent” chips for some data, issue commands to them, etc. The given example uses BASIC’s SPI routines to access the max7219 chip, which is used to drive up to eight 7-segment displays. All this is achieved by using a single pin from PIC (RC1) for communication. For chip select and clock transfer purposes, pins SDO, SDI and SCK on both PICs have to be inter-connected as well. program SPI include "m7219.pbas" dim i as byte main: SPI_Init ' Standard configuration TRISC = TRISC and $FD max7219_init ' Initialize max7219 PORTC.1 = 0 ' Select max7219 SPI_Write(1) ' Send address (1) to max7219 SPI_Write(7) ' Send data (7) to max7219 PORTC.1 = 0 ' Deselect max7219s end. And this is how the m7219.bas module looks like: module m7219 sub procedure max7219_init PORTC = PORTC and $FD ' SELECT MAX SPI_Write($09) ' BCD mode for digit decoding SPI_Write($FF) PORTC = PORTC or 2 ' DESELECT MAX PORTC = PORTC and $FD ' SELECT MAX SPI_Write($0A) SPI_Write($0F) ' Segment luminosity intensity PORTC = PORTC or 2 ' DESELECT MAX PORTC = PORTC and $FD ' SELECT MAX SPI_Write($0B) SPI_Write($07) ' Display refresh PORTC = PORTC or 2 ' DESELECT MAX PORTC = PORTC and $FD ' SELECT MAX SPI_Write($0C) SPI_Write($01) ' Turn on the display PORTC = PORTC or 2 ' DESELECT MAX
- 130. 130 PORTC = PORTC and $FD ' SELECT MAX SPI_Write($00) SPI_Write($FF) ' No test PORTC = PORTC or 2 ' DESELECT MAX end sub end. Using software SPI is similar to any software communication – the software contained in BASIC routines simulates the real device. Having that in mind, you must be careful with initialization routines. Here’s an example that uses software SPI to “talk to” another chip (the LTC1290 multiple channel 12-bit A/D converter), this time over the RD1 pin. '************************************************************************** ***** ' microcontroller : P18F452 ' ' Project: LTC1290 ' ' This code demonstrates using software routines for SPI communication. ' Also, this example demonstrates working with ADC LTC1290. ' CS pin LTC1290 should be connnected to RD1 ' and SDO, SDI, SCKL pins should be appropriately connected. ' Result of AD conversion is printed on LCD display. ' Tested on 16F877A and 18F452 '************************************************************************** ***** program ltc1290 dim low_res as byte dim high_res as byte dim t as char[17] ' Formats and prints result on LCD sub procedure Display_ADval dim tmp as word dim value as longint tmp = word((high_res << 4)) + word(low_res <b>>> 4) value = (5000*tmp) <b>>> 12 tmp = word(value) t[1]= 48 + word(tmp div 1000) t[3]= 48 + word((tmp div 100) mod 10) t[4]= 48 + word((tmp div 10) mod 10) t[5]= 48 + word(tmp mod 10) t[2]= 46 t[0]= 5 'length of the string is in the zero element LCD_out(2, 1, t) end sub main: PIE1 = 0 INTCON = 0 ' disable interrupts TRISB = 0 ' designate portb as output LCD_Init(PORTB) ' initialize LCD on PORTB LCD_Cmd(LCD_CURSOR_OFF) ' LCD cursor off low_res = 110 high_res = 1
- 131. 131 Display_ADval Soft_SPI_Config(PORTD,7,6,5) SetBit(PORTD,1) ClearBit(TRISD,1) ' pin RD1 is output t = "mikroElektronika" LCD_Out(1, 1, t) ' print "mikroElektronika" on LCD while true ClearBit(PORTD,1) ' select LTC1290 high_res = Soft_SPI_Read(255) ' get upper byte of AD conversion low_res = Soft_SPI_Read(0) ' get 4 least significant bits of AD conversion SetBit(PORTD,1) ' deselect LTC1290 Display_ADval ' format and print value on LCD Delay_ms(1) ' wait 1 ms before next conversion wend end.</b>>></b>>> 9.3 I2C and Software I2C 9.3.1 I2C I2C or I²C stands for Inter-Integrated Circuit and is pronounced I-squared-C. This is another way chips (i.e. PICs) can communicate between themselves. It is simple, cheap, and somewhat slow (from the chip’s point of view), and has been widely used for more than twenty years now. Similar to USART and SPI, the data is transferred in serial manner, i.e. bit-by-bit, through a single wire. Unlike the SPI, this standard uses only two bi-directional wires in total, one for data and one for the clock. It also allows for over 1000 chips to be inter-connected over only two wires, and it is designed to allow the chips to be safely added to or removed from the bus without turning off the power. This and the fact that it has been invented and supported by Philips, can explain such a popularity of this standard. From BASIC user’s point of view, using I2C looks pretty much like using the SPI. You have to: Initiate communicationbetweenICs; Reador write some data (inbyte-sizedchunks); Terminate communication We will demonstrate this by connecting a 24c02 EEPROM to our PIC. Here is how to connect them:
- 132. 132 And here’s the program: ' Example of communication with 24c02 EEPROM program i2c_test dim EE_adr as byte dim EE_data as byte dim jj as word main: I2C_init(100000) ' initialize full master mode TRISD = 0 ' PORTD is output PORTD = $FF ' initialize PORTD I2C_Start ' issue I2C start signal I2C_Wr($A2) ' send byte via I2C(command to 24cO2) EE_adr = 2 I2C_Wr(EE_adr) ' send byte(address for EEPROM) EE_data = $AA I2C_Wr(EE_data) ' send data(data that will be written) I2C_Stop ' issue I2C stop signal for jj = 0 to 65500 ' pause while EEPROM writes data nop next jj I2C_Start ' issue I2C start signal I2C_Wr($A2) ' send byte via I2C EE_adr = 2 I2C_Wr(EE_adr) ' send byte (address for EEPROM) I2C_Repeated_Start ' issue I2C signal repeated start I2C_Wr($A3) ' send byte (request data from EEPROM) EE_data = I2C_Rd(1) ' read data I2C_Stop ' issue I2C stop signal PORTD = EE_data ' show data on PORTD noend: ' endless loop goto noend end.
- 133. 133 You can find more details on I2C routines’ syntax in Chapter 5: Built-in and Library Routines. You shouldn’t bother yourself too much about the meaning of the I2C_Start and I2C_Repeated_Start routines – that’s the way your PIC performs the initialization of its I2C device. 9.3.2 Software I2C Working with software I2C is very similar to working with the “real one”. You can see it for yourself from the following example, which performs exactly the same thing as the previous one. '************************************************************************** **** ' microcontroller P16F877A ' ' Project: soft_i2c_test ' This project is designed to work with PIC 16F877A ' with minor adjustments, it should work with any other PIC MCU ' that has MSSP module. ' ' This code demonstrates comunication with 24c02 EEPROM ' connected to appropriate pins on PORTD. ' After the byte is read, it is displayed on PORTC. '************************************************************************** **** program soft_i2c_test dim Addr as byte dim EE_ByteOut as byte dim EE_ByteIn as byte main: TRISD = $FF TRISC = 0 PORTC = $FF Addr = 2 EE_ByteOut = $9F Soft_I2C_Config(PORTD,4,3) ' initialize I2C, 100 kHz clk, full master mode Soft_I2C_Start ' issue I2C start signal Soft_I2C_Write($A2) ' send byte via I2C (command to 24cO2) Soft_I2C_Write(2) ' send byte (address of EEPROM location) Soft_I2C_Write(EE_ByteOut) ' send data (data to be written) Soft_I2C_Stop ' issue I2C stop sinal PORTC = $B0 Delay_ms(2000) Soft_I2C_Start ' issue I2C start signal Soft_I2C_Write($A2) ' send byte via I2C (command to 24cO2 read cycle) Soft_I2C_Write(2) ' send byte (address of EEPROM location) Soft_I2C_Start ' issue I2C signal repeated start Soft_I2C_Write($A3) ' send byte (request data from EEPROM) EE_ByteIn = Soft_I2C_Read(0) ' Read the data Soft_I2C_Stop
- 134. 134 PORTC = EE_ByteIn ' display data on PORTC end. 9.4 Manchester Code 9.4.1 A Bit of Theory Manchester encoding is especially suitable for allowing your PIC to communicate with others over RF (Radio Frequency, wireless) communications and can be performed using the hardware or software UART. It is simple to encode /decode and has good error detection abilities, hence negating the need for the “check-summed” data. Manchester encoding is practical and fairly easy to implement. It is being used everywhere in the RF world, its most notable “customer” being the 802.3 Ethernet (wireless Ethernet) standard. This is a synchronous communication standard, meaning that keeping the clock rate stable and maintaining exact baudrate is essential when applying this type of communication. If you're a bit more interested in how the Manchester encoding works and why it’s being used, read-on through this chapter. If you’re anxious to put the things to work, skip this and go straight to the examples. In usual, wire-type communications world, encoding a stream of data is pretty straightforward. For example, in RS232, you have (usually) one start bit, 8 data bits, (optional) parity bit(s) and one stop bit. Data bits are sent as “high” or “low” signal levels. If you would try to send this data straightforward through the RF channel, you would encounter a number of problems. The biggest one is the existance of the DC component in the signal, meaning that if you integrate the voltage over time for, say, those 8 bits sent in previous example, you would get a non-zero (positive or negative) value. This means that if you want to send this data through the radio, you need a lot of power, even for short distances. Furthermore, when this kind of data reaches the receiver, it cannot, due to the principles on which it is been built, interpret it properly. Again, it’s that DC component in the signal that represents the “obstruction”.
- 135. 135 Manchester encoding solves this problem by treating the data (i.e. 1’s and 0’s) not as signal (voltage, current) levels, but rather as a transition pattern between the levels. This means that “1” is coded as transition from high to low signal level, while the “0” is coded in the opposite way – as transition from low to high signal level. So, the data from the previous example, in Manchester encoding, looks like this (showing only the “data” portion of message): You can see that the voltage summary now remains zero no matter how much and what kind of data we are sending. If you wish to find out more on Manchester encoding, there’s plenty of material about it on the Internet 9.4.2 Manchester Code Examples in BASIC, Manchester encoding functions are implemented on top of the software UART library. Using them is similar to software UART, exept the necessity to re-synchronize the receiver side if there are too many errors. The first example is code for the transmit side of the link: '************************************************************************** ***** ' microcontroller P18F452 ' ' Project RTX ' This project is designed to work with PIC 18F452 ' with minor adjustments, it should work with any other PIC MCU ' ' This code demonstrates how to send data using Manchester encoding '************************************************************************** ***** program RF_TX dim i as byte dim s1 as string[20] main: PORTB = 0 ' Initialize port
- 136. 136 TRISB = %00001110 ClearBit(INTCON, GIE) ' Disable interrupts Man_Send_Init(PORTB) ' Initialize manchester sender while TRUE Man_Send($0B) ' Send start marker Delay_ms(100) ' Wait for a while s1 = "mikroElektronika" for i = 1 to StrLen(s1) Man_Send(s1[i]) ' Send char Delay_ms(90) next i Man_Send($0E) ' Send end marker Delay_ms(1000) wend end. As you can see, the transmit side is pretty straightforward. The receive side needs to have a little extra coding to provide the re-synchronization during data receive, if necessary. In BASIC, Manchester receive routines (Man_Receive_Config, Man_Receive_Init, Man_Receive) are blocking calls. This means that PIC will wait until the task is performed (e.g. byte is received, synchronization achieved, etc.). Routines for receiving are limited to a baud rate scope from 340 ~ 560 bps. '************************************************************************** ***** ' microcontroller: P16F877A ' ' Project: RRX ' This project is designed to work with PIC 16F877A ' with minor adjustments, it should work with any other PIC MCU ' ' This code shows how to use manchester library for receiving data. ' The example works in conjuction with transmitter which sends ' the word "mikroElektronika" using Manchester encoding. '************************************************************************** ***** program RRX dim ErrorFlag as byte dim ErrorCount as byte dim IdleCount as byte dim temp as byte dim LetterCount as byte main: errorCount = 0 trisc = 0 ' ErrorFlag indicator portc = 0 Man_Receive_Config(PORTD,6) ' Initialize receiver and try to synchronize it LCD_Init(PORTB) ' Initialize LCD on PORTB while true do ' Loop endlessly IdleCount = 0 ' Reset idle counter temp = Man_Receive(ErrorFlag) ' Attempt byte receive if ErrorFlag then inc(errorCount)
- 137. 137 else portc = 0 ' Clear error indicator end if if errorCount > 20 then ' If there are too many errors ' try to syncronize the receiver again errorCount = 0 portc = $AA ' Indicate error state Man_Receive_Init(PORTD) ' Synchronize receiver end if inc(IdleCount) if IdleCount > 18 then ' If nothing is received after some time IdleCount = 0 ' try to synchronize again Man_Receive_Init(PORTD) ' Synchronize receiver end if loop until temp = $0B ' End of message marker ' Get the message if errorFlag = false then ' If no errorFlag then write the message LCD_Cmd(LCD_CLEAR) LetterCount = 0 while LetterCount < 17 ' The message is 16 chars in size. inc(LetterCount) temp = Man_Receive(ErrorFlag) if errorFlag = false then LCD_Chr_CP(temp) else inc(errorCount) end if wend temp = Man_Receive(ErrorFlag) if temp <> $0E then inc(errorCount) end if end if wend end. 9.5 RS485 RS232 is a well documented, simple, reliable, good-old standard that is still used a lot and will be so in the near future. You should certainly use it wherever and whenever possible. But what happens when it cannot do the job? This is primarily addressed to the cable length, i.e. distances it cannot cover. The answer is (or should be) RS485. Together with the RS422, it is one of the most widely used communication standards today, especially in the industrial production facilities and remote stations, although in the past decade it has been constantly losing the battle against the newer and more advanced standard – the Ethernet. So, what are the basic differences between RS232 and RS485 and when should you use the latter? The way the signalsare represented:AtRS232, signalsare representedbyvoltage levels withrespecttoground.There is a wire foreach signal,togetherwiththe groundsignal (reference forvoltagelevels),soif youwanttouse the communcationwithoutthe hardware
- 138. 138 handshake,you’llneed3wiresforthis:Rx (receive),Tx (transmit) andGND(ground) as commonreference point.Thisalsomeans thatthe differenceinGNDvoltage levelsbetween the devicesincommunicationmustbe verysmall (if any).Onthe otherhand,at RS485, signalsare representedbyvoltage difference,whichallowsformuchlongercable distances (withmuchmore electrical noise) tobe covered. Numberof endpointsin communication:RS232 is a single-pointprotocol,meaningyoucan connectonlyone peripheral toyourPCor PIC throughone RS232 link.RS485 ismultipoint protocol,whichallowsmultipledevicestobe connected toasingle signal cable. Type of communication:RS232 is a full-duplex communication,meaningthatbothsidescan sendand receive datasimultaneously.RS485is a half-duplex communication –onlyone device cansendmessagesata time,while othersonthe netare listening. You should use RS485: Whenyouneedyourdevice tocommunicate tomore than one of its“colleagues”,i.e.when youneedto have a network of devices.Upto 32 devices(instandardconfiguration)canbe connected; Whenyouneedto coverlargerdistancesthanthose younormallycando withRS232. For RS 485 the cable can be up to 1200 meterslong,comparedtomax.30 – 60 metersforRS232; To implement all this, RS485 uses the Master/Slave architecture. This means that one device (the master) controls the line, allowing other devices (slaves) to send messages only when spoken to. Master and slave devices interchange packets of information, each of these packets containing synchronization bytes, CRC byte, address byte, and the data. In Master/Slave architecture, slave can never initiate communication. Each slave has its unique address and receives only the packets containing that particular address. It is programmer’s responsibility to ensure that only one device transmits data via 485 bus at a time. BASIC provides a set of library routines to allow you comfortable working with RS485 system. RS485 routines require USART module on PORTC. Pins of USART need to be attached to RS485 interface transceiver, such as LTC485 or similar. Pins of transceiver (Receiver Output Enable and Driver Outputs Enable) should be connected to PORTC, pin 2 (see the figure at end of the chapter). Note that address 50 is a common address for all Slave devices: packets containing address 50 will be received by all Slaves. The only exceptions are slaves with addresses 50 and 169, which require their particular address to be specified in the packet. The following example demonstrates use of Slave nod in RS485 Master/Slave architecture. program pr485 dim dat as byte[8] ' Buffer for receiving/sending messages dim i as byte dim j as byte sub procedure interrupt if TestBit(RCSTA, OERR) = 1 then PORTD = $81 end if RS485Slave_Read(dat) ' Every byte is received by end sub ' RS485Slave_Read(dat); ' Upon receiving a message w/o errors main: ' data[4] is set to 255
- 139. 139 TRISB = 0 TRISD = 0 USART_Init(9600) ' Initialize usart module RS485Slave_Init(160) ' Initialize MCU as Slave with address 160 SetBit(PIE1, RCIE) ' Enable interrupt SetBit(INTCON, PEIE) ' on byte received ClearBit(PIE2, TXIE) ' via USART (RS485) SetBit(INTCON, GIE) PORTB = 0 PORTD = 0 ' Ensure that message received flag is 0 dat[4] = 0 ' Ensure that error flag is 0 dat[5] = 0 while true if dat[5] then PORTD = $AA ' If there is error, set PORTD to $aa end if if dat[4] then ' If message received: dat[4] = 0 ' Clear message received flag j = dat[3] ' Number of data bytes received for i = 1 to j PORTB = dat[i - 1] ' Output received data bytes next i dat[0] = dat[0] + 1 ' Increment received dat[0] RS485Slave_Write(dat,1) ' Send it back to Master end if wend end.
- 140. 140 9.6 OneWire This is another Master/Slave protocol, and all the cabling you need is a single wire. Because of the hardware configuration it uses (single pullup and open collector drivers), it allows for the slaves even to get their power supply from that line. Some basic characteristics of this protocol are: single mastersystem, lowcost, lowtransferrates(upto 16 kbps), fairlylongdistances(upto300 meters), small data transferpackages. Each 1-Wire device also has a unique 64-bit registration number (8-bit device type, 48-bit serial number and 8-bit CRC), so multiple slaves can co-exist on the same bus.
- 141. 141 In low-level part of this protocol, each bit is transferred by the master by pulling the line low. Whether the bit is zero or one depends on how long the line is kept low, longer time for the “0” and shorter for the “1”. When the master is reading a bit from a slave it pulls the line low for a minimum amount of time. The slave pulls the line low as well and after the master releases the line the slave keeps it low for the time required for the bit type (same as for the master). The higher level protocol, also known as 1-wire Bus System, allows the master to enumerate devices on the bus. The master sends a command for all slaves to respond with their registration number. As each bit is being read, the master sends the value of the bit it is interested in. The slaves that match continue while the slaves that don’t match stop outputting. By the time the entire configuration code is read, one unique code has been read identifying one device. The command is repeated until no new devices respond and all devices on the bus have been identified. This code demonstrates use of low-level 1-wire library procedures and functions in BASIC. The example reads the temperature using DS1820 connected to PORTA, pin 5. Be sure to set the Fosc (oscillator frequency) appropriately in your project. program onewire_test dim i as byte dim j1 as byte dim j2 as byte dim por1 as byte dim por2 as byte dim text as char[20] main: text = "Temperature:" PORTB = 0 ' initialize PORTB to 0 PORTA = 255 ' initialize PORTA to 255 TRISB = 0 ' PORTB is output TRISA = 255 ' PORTA is input LCD_Init(PORTB) LCD_Cmd(LCD_CURSOR_OFF) LCD_Out(1, 1, text) do OW_Reset(PORTA, 5) ' 1-wire reset signal OW_Write(PORTA, 5, $CC) ' issue command to DS1820 OW_Write(PORTA, 5, $44) ' issue command to DS1820 Delay_ms(120) i = OW_Reset(PORTA, 5) OW_Write(PORTA, 5, $CC) ' issue command to DS1820 OW_Write(PORTA, 5, $BE) ' issue command to DS1820 Delay_ms(1000) j1 = OW_Read(PORTA, 5) ' get result j2 = OW_Read(PORTA, 5) ' get result j1 = j1 >> 1 ' assuming the temp. >= 0C ByteToStr(j1, text) ' convert j1 to text LCD_Out(2, 8, text) ' print text LCD_Chr(2, 10, 223) ' degree character (°) LCD_Chr(2, 11, "C") Delay_ms(500) loop until false ' endless loop end.
- 142. 142 9.7 CAN & CANSPI 9.7.1 CAN CAN stands for the “Controller Area Network” and, as its name implies, it addresses the need to connect the controllers (or MCUs) into network in a single area. This “area” can vary from couple of square meters and up to 70,000 square meters and more. CAN is a serial bus standard developed to replace the RS485, and, although quite different from the RS485, from user’s point of view it can be considered as the “new and improved” RS485. It is designed to be fast, highly noise-resistant and practically error-proof which makes it perhaps the most complete, elaborate, and sophisticated communication standard that is applied on PIC MCUs. All this doesn’t come cheaply, meaning it doesn’t pay off using it for distances less than 30-40 meters unless you need some (very) high data throughput.
- 143. 143 Remember, each of the communication standards, protocols and devices described in this chapter has its own scope of applications! CAN was originally created by the BOSCH company in the early 80’s for automotive electronics, to allow for various car/truck/bus electronic systems (such as ABS, Electronic Power Control, AquaStop, GPS/navigation, data display system, etc) to exchange data over (single) serial bus, i.e. to form a network of devices within the vehicle. It soon proved its value, expanding itself into other areas, such as HVAC, elevators and Building Automation systems. Its price and transfer rate characteristics put the CAN in between the RS485 (older, slower, and by far cheaper) and the Ehternet (newer, faster, and more complex/expensive), and that’s also where its scope of applications stands. CAN is a very robust protocol that has error detection and signalling, self–checking and fault confinement. Faulty CAN data and remote frames are re-transmitted automatically, just like at Ethernet. Data transfer rates vary from up to 1 Mbit/s at network lengths below 40 m to 250 kbit/s at 250 m cables, and can go even lower at greater network distances, downto 200 kbit/s, which is the minimum bitrate defined by the standard. Cables used are shielded twisted pairs, and maximum cable length is 1000 m. CAN supports two message formats: Standardformat,with11 identifierbits,and Extendedformat,with29identifierbits The protocol itself is standardized in ISO 11898-1 (2003). Every CAN solution must implement the standard format and may accept the extended format. Here, all devices are connected to a single shared bus and they are all allowed to start a transmission (whenever they want to), unlike at RS485. Therefore, if two or more devices start transmitting simultaneously, there must be some arbitration scheme involved to decide which one will be granted permission to continue transmitting. This mechanism is called the Carrier Sense Multiple Access / Collision Avoidance (CSMA/CA) scheme. The example that follows is a simple demonstration of working with the CAN system through BASIC programming language. The CAN device is first initialized, then the data is intermittently read, incremented and written back. The PIC that is used for this example must have the CAN module built-in, e.g. you could use the P18F448 or any other PIC MCU from P18Fxx8 family. Furthermore, you need to have a chip that performs signal conditionning for CAN bus (or CAN transceiver) to boost up voltage levels and make level transition cleaner and less noisy, and for that purpose we used the MCP2551 IC. program can_test dim aa as byte dim aa1 as byte dim lenn as byte dim aa2 as byte dim data as byte[8] dim id as longint dim zr as byte
- 144. 144 dim cont as byte dim oldstate as byte sub function TestTaster as byte result = true if Button(PORTB, 0, 1, 0) then oldstate = 255 end if if oldstate and Button(PORTB, 0, 1, 1) then result = false oldstate = 0 end if end sub main: TRISB.0 = 1 ' Pin RB0 is input PORTC = 0 TRISC = 0 PORTD = 0 TRISD = 0 aa = 0 aa1 = 0 aa2 = 0 aa1 = CAN_TX_PRIORITY_0 and ' Form value to be used CAN_TX_XTD_FRAME and ' with CANSendMessage CAN_TX_NO_RTR_FRAME aa = CAN_CONFIG_SAMPLE_THRICE and ' Form value to be used CAN_CONFIG_PHSEG2_PRG_ON and ' with CANInitialize CAN_CONFIG_STD_MSG and CAN_CONFIG_DBL_BUFFER_ON and CAN_CONFIG_VALID_XTD_MSG and CAN_CONFIG_LINE_FILTER_OFF cont = true ' Upon signal change on RB0 pin while cont ' from logical 0 to 1 ' proceed with program cont = TestTaster ' execution wend data[0] = 0 CANInitialize( 1,1,3,3,1,aa) ' Initialize CAN CANSetOperationMode(CAN_MODE_CONFIG,TRUE) ' Set CONFIGURATION mode ID = -1 CANSetMask(CAN_MASK_B1,ID,CAN_CONFIG_XTD_MSG) ' Set all mask1 bits to ones CANSetMask(CAN_MASK_B2,ID,CAN_CONFIG_XTD_MSG) ' Set all mask2 bits to ones CANSetFilter(CAN_FILTER_B1_F1,3,CAN_CONFIG_XTD_MSG) ' Set id of filter B1_F1 to 3 CANSetOperationMode(CAN_MODE_NORMAL,TRUE) ' Set NORMAL mode PORTD = $FF id = 12111 CANWrite(id, data, 1, aa1) ' Send message via CAN while true oldstate = 0 zr = CANRead(id, Data, lenn, aa2) if (id = 3) and zr then
- 145. 145 PORTD = $AA PORTC = data[0] ' Output data at PORTC data[0] = data[0]+1 id = 12111 CANWrite(id, data, 1, aa1) ' Send incremented data back if lenn = 2 then ' If message contains two data as bytes PORTD = data[1] ' output second as byte at PORTD end if end if wend end. 9.7.2 CANSPI Working with CAN is nice, but what about those PICs that do not have the CAN module? The BASIC solution for them is the CANSPI, actual CAN-over-SPI module library. Each routine of CAN library has its CANSPI counterpart with identical syntax. This library provides us with a fictive external CAN module that can be communicated with through the SPI. In example that follows we used the MCP2510 CAN controller. For more information consult the previous entry and example. Please note that the effective communication speed now depends on the SPI, and is certainly slower than the “real” CAN. program CANSPI dim aa as byte dim aa1 as byte dim lenn as byte
- 146. 146 dim aa2 as byte dim data as byte[8] dim id as longint dim zr as byte main: TRISB = 0 SPI_init ' Must be performed before any other activity TRISC.2 = 0 ' This pin is connected to Reset pin of MCP2510 PORTC.2 = 0 ' Keep MCP2510 in reset state PORTC.0 = 1 ' Make sure that MCP2510 is not selected TRISC.0 = 0 ' Make RC0 output PORTD = 0 TRISD = 0 ' PORTD is output aa = 0 aa1 = 0 aa2 = 0 aa = CAN_CONFIG_SAMPLE_THRICE and CAN_CONFIG_PHSEG2_PRG_ON and CAN_CONFIG_STD_MSG and CAN_CONFIG_DBL_BUFFER_ON and CAN_CONFIG_VALID_XTD_MSG ' Prepare flags for CANSPIinitialize procedure PORTC.2 = 1 ' Activate MCP2510 chip aa1 = CAN_TX_PRIORITY_BITS and CAN_TX_FRAME_BIT and CAN_TX_RTR_BIT ' Prepare flags for CANSPIwrite function CANSPIInitialize( 1,2,3,3,1,aa) ' Initialize MCP2510 CANSPISetOperationMode(CAN_MODE_CONFIG,true) ' Set configuration mode ID = -1 CANSPISetMask(CAN_MASK_B1,id,CAN_CONFIG_XTD_MSG) ' bring all mask1 bits to ones CANSPISetMask(CAN_MASK_B2,0,CAN_CONFIG_XTD_MSG) ' bring all mask2 bits to ones CANSPISetFilter(CAN_FILTER_B1_F1,12111,CAN_CONFIG_XTD_MSG) ' set filter_b1_f1 id to 12111 CANSPISetOperationMode(CAN_MODE_NORMAL,true) ' get back to Normal mode while true zr = CANSPIRead(id, Data, lenn, aa2) if (id = 12111) and zr then PORTD = $AA PORTB = data[0] data[0] = data[0] + 1 id = 3 Delay_ms(10) CANSPIWrite(id, data, 1, aa1) if lenn = 2 then PORTD = data[1] end if end if wend end.
- 147. 147
- 148. 148 Appendix A: mikroBasic IDE Introduction A.1 Installationof mikroBasic A.2 FirstContact withmikroBasic A.3 CreatingFirstProject Introduction As already stated, any text editor that can save program file as pure ASCII text (without special symbols for formatting) can be used for writing your BASIC code. Still, there is no need to do it “by hand” — there are specialized environments, such as mikroBasic, that take care of the code syntax, free the memory and provide all the necessary tools for writing a program. mikroBasic is a Windows-based Integrated Development Environment, and is much more than just BASIC compiler for PIC MCUs. With mikroBasic, you can: Create BASICsource code usingthe built-inCode Editor, Compile andlinkyoursource code, Inspectprogramflowanddebugexecutable logicwithDebugger, MonitorvariablesinWatch Window, Get errorreports, Get detailedstatistics –howcompiledcode utilizesPICMCU memory,hex map,charts,and more… mikroBasic IDE includes highly adaptable Code Editor, fashioned to satisfy needs of both novice users and experienced programmers. Syntax Highlighting, Code Templates, Code & Parameter Assistant, Auto Correct for common typos, and other features provide comfortable environment for writing a program. In combination with comprehensive help, integrated tools, extensive libraries, and Code Explorer which allows you to easily monitor program items, all the necessary tools are at hand. A.1 Installation of mikroBasic mikroBasic is simple to install. Just start the Setup file and follow the installation steps. Step 1
- 149. 149 First you will be welcomed by the following screen. Click on next to continue. Step 2
- 150. 150 You will be asked to review the License Agreement before installing mikroBasic. If you understand and accept the terms in the agreement, select “I accept the terms…” and click “Next” to proceed with the installation. Step 3 Select the components you would like to install. Examples included with mikroBasic are optional, but we higly recommend installing them. Without taking much space on hard disk, the included set of pracical examples can be highly useful when developing applications. Also, beginners might find it very hepful. Step 4
- 151. 151 Choose the location where you want mikroBasic to be installed. Step 5 Installation process itself takes less than a minute.
- 152. 152 Step 6 mikroBasic has been installed on your computer. Click “Finish” to confirm. A.2 First Contact with mikroBasic Upon starting mikroBasic for the first time, simple project “LED_Blinking” will be automatically started to help you to get to know IDE more quickly. You can compile the code (CTRL + F9), modify it, toy with Debugger or check the Statistics.
- 153. 153 As with any modern environment, you may customize layout of mikroBasic to best suit your needs – toolbars are fully dockable and your arrangement of windows is saved upon exit. By default, the largest part of the screen is taken by Code Editor which contains the program code. This is the advanced text editor where you will be writing your programs. It features Syntax Highlighting to help you differentiate code elements. Try typing one of BASIC’s keywords and watch it go bold, or type an aposhtophe to see the comments go italic and change color. Code Editor features many other advanced features such as Code & Parameter Assistants, Auto Correct for common typos, Code Templates, etc.
- 154. 154 If you had no previous experience with advanced IDEs, you may wonder what Code and Parameter Assistants do. These are utilities which facilitate the code writing. For example, if you type first few letter of a word in Code Editor and then press CTRL+SPACE, all valid identifiers matching the letters you typed will be prompted to you in a floating panel. Now you can keep typing to narrow the choice, or you can select one from the list using keyboard arrows and Enter. You don’t have to memorize the exact order or type of the routine parameters. Type CTRL+SHIFT+SPACE to activate the Parameter Assistant which will guide you in filling the appropriate parameters. This feature is automatically invoked upon opening a parenthesis. To the left of the Code Editor, you will see a treeview of declared program elements. This is the Code Explorer which allows you to monitor variables, constants, routines, etc. Double click the element to jump to its declaration in code. You can click tabs over Code Explorer to change view to Keyboard shortcut browser for a list of all IDE shortcuts or to Quick Help browser with complete list of available built-in and library routines. For setting other IDE features, click Tools > Options. In the Options window you can customize the look and feel of mikroBasic, enter your own list of recognized typos, write your own templates, etc. If you get stuck at any point, consult the included help files. You can get help on F1, by right- clicking a specific word in code, or from Quick Help tab in Code Explorer. Help files are syntax and context sensitive. A.3 Creating First Project
- 155. 155 We will create a simple project similar to the included LED_Blinking, but we’ll start from scratch. Before we do, close any open files in Code Editor by clicking on File > Close. Step 1 From a drop-down menu, select: Project > New Project, or click New Project icon Step 2 Fill the New Project Wizard dialog with correct values to set up your new project. Selectadevice foryourprojectfrom the drop-downmenu Setconfigurationbits(Device Flags) byclickingDefaultpush-button. SelectDevice Clockbyenteringappropriate valueineditbox. Enter a name for yournewproject Enter projectdescriptioneditbox forcloserinformationaboutyourproject Enter projectpath
- 156. 156 After you have set up your project, click OK. mikroBasic will create project for you and automatically open the program file in Code Editor. Now we can write the source code. Step 3 Upon creating a new project, Code Editor will display an empty program file, named same as your project. This is shown in the following figure.
- 157. 157 Now we are about to write the code for this simple example. We want to make LED diode blink once per second. Assuming the configuration given in the following figure, LED diodes are connected to PIC16F877 PORTB pins (it can be any other PIC that has PORTB). In this configuration, LED will emit light when voltage on pin is high (5V), and will be off when voltage on pin is low (0V). We have to designate PORTD as output, and change its value every second. Listing of the program is given below. Once you are comfortable with each line, feel free to experiment with it and improve the code.
- 158. 158 program My_LED main: TRISB = 0 ' PORTB is output eloop: PORTB = $FF ' Turn on diodes on PORTB Delay_ms(1000) ' Wait 1 second PORTB = 0 ' Turn of diodes on PORTB Delay_ms(1000) ' Wait 1 second goto eloop ' Stay in loop end. Step 4 Before compiling, it is recommended to save your project (menu choice File > Save All). Now you can compile your code by clicking CTRL+F9, or by selecting menu Run > Compile, or by clicking the Compile icon mikroBasic will generate list and assembly file, and a hex file which can be used to program PIC MCU. But before trying out our program on PIC, let's test it with the Debugger. Step 5 After successful compiling, we can use mikroBasic Debugger to check our program behavior before we feed it to the device (PIC16F877 or other). For a simple program such as this, simulation is not really necessary, but it is a requirement for more complex projects. To start the Debugger, select Run > Debug, or click the Debug icon , or simply hit F9.
- 159. 159 Upon starting the Debugger, Watch Window appears, and the active line in Code Editor marks the instruction to be executed next. We will set the breakpoint at line 9 by positioning the cursor to that line and toggling the breakpoint (Run > Toggle Breakpoint or F5). See the image below: We will use the Step Over option (Run > Step Over or F8) to execute the current program line. Now, you can see the changes in variables, SFR registers, etc, in the Watch Window – items that have changed are marked red, as shown in the image below.
- 160. 160 We could have used Run/Pause (F6) option to execute all the instructions between the active line and the breakpoint (Run > Run/Pause Debugger). Step 6 Now we can use our hex file and feed it to the device (PIC16F877 or other). In order to do so, hex file must be loaded in programmer (PIC Flash by mikroElektronika or other). For advanced users: You can set any configuration for PIC MCUs config word(s). Set configuration bits (Device Flags) by clicking appropriate check boxes. If you use internal PLL (Phase Locked Loop), device clock equals 4 x oscillator clock (be sure that appropriate value is in edit box ).