Microcontroller FundamentalsLearning ObjectivesMechatronics Concept MapWhat is a Microcontroller?ATmega328 Internal ArchitectureATmega328 FeaturesArduino DuemilanoveArduino Uno R3Arduino DueArduino Duemilanove/Uno FeaturesPowerPoint PresentationATmega328 MicrocontrollerAbsolute MaximumsMicrocontroller Ports and PinsPort Pin Data DirectionalityATmega328 Block DiagramM68HC11 microcontrollerSetting the Pin Data DirectionPin VoltagesPin Used as an OutputPins as Inputs and Pull-up Resistors - 1Pins as Inputs and Pull-up Resistors - 2Pins as Inputs and Pull-up Resistors - 3Pins as Inputs and Pull-up Resistors - 4Spartronics Experimenter ShieldHandling the Arduino - How NOT to Do It!Handling the Arduino - The Proper WaySpartronics Experimenter LED PinoutSpartronics Experimenter Digital Pin AssignmentsSpartronics Experimenter Analog Pin AssignmentsBinary and Hexadecimal Numbers - 1Binary and Hexadecimal Numbers - 2Binary and Hexadecimal Numbers - 3Binary and Hexadecimal Numbers - 4Using Hex ValuesPracticeSolutionSo What?Data Direction RegisterATmega328 Registers of InterestPORT Pin and register detailsExample 1Example 2Structure of an Arduino ProgramDigital IO – Practice 1Digital IO – Practice 1 SolutionSlide 47Digital IO – Practice 2Digital IO – Practice 2 PseudocodeDigital IO – Practice 2 (Arduino style code)Slide 51Digital IO – Practice 3 (Port style code)Slide 53SummarySummary, cont.Microcontroller FundamentalsB. Furman18SEP2014Learning ObjectivesExplain the general architecture of a microcontrollerList the key features of the ATmega328 microcontrollerExplain the features and elements of the Arduino and Spartronics Experimenter Shield (SES)Explain the concepts of microcontroller pins as inputs and outputsConvert between binary and hexadecimal digitsMechatronics Concept MapController(Hardware & Software)System toControlSensorSignalConditioningPowerInterfaceActuatorUserInterfacePowerSourceBJ Furman 22JAN11ME 106ME 154ME 157ME 195ME 120ME 297AME 106ME 120ME 106ME 190ME 187ME 110ME 136ME 154ME 157ME 182ME 189ME 195ME 106ME 120ME 106 INTEGRATIONWhat is a Microcontroller?http://www.freescale.com/files/microcontrollers/doc/ref_manual/M68HC05TB.pdfANALOGINPUTSWhat is the difference between a ‘Digital Input’ and an ‘Ana log Input’?ATmega328 Internal ArchitectureATmega328 data sheet pp. 2, 5http://www.adafruit.com/index.php?main_page=popup_image&pID=50ATmega328 FeaturesATmega328 data sheet p. 1http://www.atmel.com/Images/Atmel-8271-8-bit-AVR-Microcontroller-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet.pdfArduino Duemilanove http://www.arduino.cc/en/Main/ArduinoBoardDuemilanovehttp://arduino.cc/en/uploads/Main/ArduinoDuemilanove.jpgPin 13 LEDUSBconnectorBarrel jackDigital pins headerReset buttonATmega328 MCUAnalog pins headerPower-ground headerSee the handout: Arduino_ATmega328_pin_mapping_and_schematicArduino Uno R3http://www.adafruit.com/index.php?main_page=popup_image&pID=50ATmega16u2 replaces FT232RL for USB-serial communicationSee: http://learn.adafruit.com/arduino-tips-tricks-and-techniques/arduino-uno-faqArduino DueAtmel SAM3X8E processor (32 bit ARM Cortex M3 architecture, 84MHz)http://www.adafruit.com/index.php?main_page=popup_image&pID=1076See: http://arduino.cc/en/Main/ArduinoBoardDueNote: 3.3 V !!Arduino Duemilanove/Uno FeaturesMicrocontroller ATmega168/328Operating Voltage 5VInput Voltage (recommended) 7-12VInput Voltage (limits) 6-20VDigital I/O Pins 14 (of which 6 provide PWM output)Analog Input Pins 6DC Current per I/O Pin 40 mADC Current for 3.3V Pin 50 mAFlash Memory16 KB (ATmega168) or 32 KB (ATmega328) of which 2 KB used by bootloaderSRAM 1 KB (ATmega168) or 2 KB (ATmega328)EEPROM 512 bytes (ATmega168) or 1 KB (ATmega328)Clock Speed 16 MHzhttp://www.arduino.cc/en/Main/ArduinoBoardDuemilanovehttp://arduino.cc/en/uploads/Main/arduino-duemilanove-schematic.pdfATmega328 MicrocontrollerPin numberPin nameSpecial functionSource:http://www.atmel.com/dyn/products/product_card.asp?PN=ATmega328PNote the limitations!p. 316Absolute MaximumsATmega328 data sheet p. 316Microcontroller Ports and PinsThe communication channels through which information flows into or out of the microcontrollerEx. PORTBPins PB0 – PB7May not be contiguousOften bi-directionalCSee next slides!Port Pin Data DirectionalityInputWhen you want to take information from the external world (sensors) int o the MCUOutputWhen you want to change the state of something outside the MCU (turn a motor on or off, etc.)Pins default to input direction on power-up or resetYour program can set or change the directionality of a pin at any timeATmega328Block DiagramInputOutputM68HC11 microcontrollerSetting the Pin Data DirectionArduinopinMode(pin_no., dir)Ex. Make Arduino pin 3 (PD3) an outputpinMode(3, OUTPUT);pinMode(PIN_D3, OUTPUT); // with me106.hNote: one pin at a timeSuppose you wanted Arduino pins 3, 5, and 7 (PD3, PD5, and PD7) to be outputs?Is there a way to make them all outputs at the same time?Yes! Answer coming later…Pin VoltagesMicrocontrollers are fundamentally digital devices. For digital IO pins:Information is ‘coded’ in two discrete states:HIGH or LOW (logic: 1 or 0)VoltagesTTL5 V (for HIGH)0 V (for LOW)3.3 V CMOS3.3 V (for HIGH)0 V (for LOW)Pin Used as an OutputTurn on an LED, which is connected to pin Arduino pin 0 (PD0) (note the resistor!)What should the data direction be for pin 0 (PD0)?pinMode(____, ____);Turn on the LEDdigitalWrite(0,HIGH);Turn off the LEDdigitalWrite(0,LOW);ATmega328Arduinopin 0(PD0)Pins as Inputs and Pull-up Resistors - 1Using a switch as a sensorEx. Seat belt sensorDetect the switch stateWhat should the data direction be for Arduino pin 3 (PD3)?pinMode(____, ____);What will the voltage be on PD3 when the switch is closed?What will the voltage be on PD3 when the switch is open?Indeterminate!ATmega328Arduinopin 3(PD3)Pins as Inputs and Pull-up Resistors - 2Switch as a sensor, cont.Make the voltage on the pin determinate by turning on the pull-up resistor for PD3Assuming PD3 is an input:digitalWrite(3,HIGH); turns on the “pull-up” resistorpinMode(3,INPUT_PULLUP);What will the voltage on PD3 be when the switch is open?VTGWhat will the voltage on PD3 be when the switch is closed?ATmega328PD3VTG= +5V01Pins as Inputs and Pull-up Resistors - 3Switch as a sensor, cont.To turn off