Embedded Microcomputer Systems: Real Time Interfacing

by Valvano, Jonathan W.

• ISBN13: 9780534551629
• ISBN10: 0534551629
• Edition: 2nd
• Format: Hardcover
• Copyright: 2006-03-21
• Publisher: CL Engineering

Summary

Embedded Microcomputer Systems: Real Time Interfacing provides an in-depth discussion of the design of real-time embedded systems using the Freescale 6811 and 9S12 microcontrollers. This book covers the hardware aspects of interfacing, advanced software topics (including interrupts), and a systems approach to typical embedded applications. This text stands out from other microcomputer systems books because of its balanced, in-depth treatment of both hardware and software issues important in real time embedded systems design. It features a wealth of detailed case studies that demonstrate basic concepts in the context of actual working examples of systems. It also features a unique simulation software package on the bound-in CD-ROM (called Test Execute and Simulate, or TexaS, for short) - that provides a self-contained software environment for designing, writing, implementing, and testing both the hardware and software components of embedded systems.

Table of Contents

Microcomputer-Based Systems	p. 1
Computer Architecture	p. 2
Embedded Computer Systems	p. 6
The Design Process	p. 10
Top-Down Design	p. 10
Bottom-Up Design	p. 14
Digital Logic and Open Collector	p. 15
Digital Representation of Numbers	p. 20
Fundamentals	p. 20
8-Bit Numbers	p. 22
Character Information	p. 23
16-Bit Numbers	p. 23
Fixed-Point Numbers	p. 25
Common Architecture of the 6811 and the 6812	p. 27
Registers	p. 28
Terminology	p. 29
Addressing Modes	p. 30
Numbering Scheme Used by Freescale for the 6811 and the 6812	p. 33
6811 Architecture	p. 33
6811 Family	p. 33
MC68HC711E9	p. 35
MC68HC11D3	p. 37
6812 Architecture	p. 37
6812 Family	p. 37
MC9C12C32	p. 38
MC68HC812A4	p. 41
MC68HC912B32	p. 42
Parallel I/O Ports	p. 43
Basic Concepts of Input and Output Ports	p. 43
Introduction to I/O Programming and the Direction Register	p. 46
Our First Design Problem	p. 47
Choosing a Microcontroller	p. 53
Exercises	p. 54
Lab Assignments	p. 56
Design of Software Systems	p. 58
Quality Programming	p. 58
Quantitative Performance Measurements	p. 59
Qualitative Performance Measurements	p. 59
Assembly Language Programming	p. 60
Introduction	p. 60
Assembly Language Syntax	p. 62
Memory and Register Transfer Operations	p. 64
Indexed Addressing Mode	p. 66
Arithmetic Operations	p. 69
Extended Precision Arithmetic Instructions on the 6812	p. 74
Shift Operations	p. 75
Logical Operations	p. 77
Subroutines and the Stack	p. 78
Branch Operations	p. 82
Assembler Pseudo-ops	p. 84
Memory Allocation	p. 88
Self-Documenting Code	p. 91
Comments	p. 91
Naming Convention	p. 94
Abstraction	p. 95
Definitions	p. 95
6811 Timer Details	p. 96
6812 Timer Details	p. 96
Time Delay Software Using the Built-in Timer	p. 97
Moore Finite State Machine Traffic Light Controller	p. 98
Mealy Finite State Machine Robot Controller	p. 101
Modular Software Development	p. 104
Local Variables in Assembly Language	p. 104
Modules	p. 109
Dividing a Software Task into Modules	p. 113
Rules for Developing Modular Software in Assembly Language	p. 116
Layered Software Systems	p. 118
Device Drivers	p. 119
Basic Concept of Device Drivers	p. 119
Design of a Serial Communications Interface (SCI) Device Driver	p. 121
Object-Oriented Interfacing	p. 122
Encapsulated Objects Using Standard C	p. 122
Object-Oriented Interfacing Using C++	p. 123
Portability Using Standard C and C++	p. 124
Threads	p. 126
Single-Threaded Execution	p. 126
Multithreading and Reentrancy	p. 126
Recursion	p. 128
Debugging Strategies	p. 128
Debugging Tools	p. 128
Debugging Theory	p. 129
Functional Debugging	p. 131
Performance Debugging	p. 133
Profiling	p. 136
Exercises	p. 137
Lab Assignments	p. 141
Interfacing Methods	p. 142
Introduction	p. 142
Performance Measures	p. 142
Synchronizing the Software with the State of the I/O	p. 143
Variety of Available I/O Ports	p. 146
Handshake protocols	p. 148
6811 Handshake Protocol	p. 148
MC68HC812A4 Key Wakeup Interrupts	p. 149
MC9S12C32 Key Wakeup Interrupts	p. 150
Blind Cycle Counting Synchronization	p. 151
Blind Cycle Printer Interface	p. 151
Blind Cycle ADC Interface	p. 152
Gadfly or Busy Waiting Synchronization	p. 153
Parallel I/O Interface Examples	p. 155
Blind Cycle Printer Interface	p. 156
Blind Cycle ADC Interface	p. 157
Gadfly Keyboard Interface Using Latched Input	p. 158
Gadfly ADC Interface Using Simple Input	p. 159
Gadfly External Sensor Interface Using Input Handshake	p. 161
Gadfly Printer Interface Using Output Handshake	p. 163
Gadfly Synchronous Serial Interface to a Temperature Sensor	p. 164
Serial Communications Interface (SCI) Device Driver	p. 173
Transmitting in Asynchronous Mode	p. 174
Receiving in Asynchronous Mode	p. 175
6811 SCI Details	p. 177
6812 SCI Details	p. 178
SCI Device Driver	p. 179
Exercises	p. 181
Lab Assignments	p. 187
Interrupt Synchronization	p. 189
What Are Interrupts?	p. 190
Interrupt Definition	p. 190
Interrupt Service Routines	p. 191
When to Use Interrupts	p. 192
Interthread Communication	p. 192
Reentrant Programming	p. 197
First-In-First-Out Queue	p. 204
Introduction to FIFOs	p. 204
Two-Pointer FIFO Implementation	p. 205
Two-Pointer/Counter FIFO Implementation	p. 208
FIFO Dynamics	p. 209
General Features of Interrupts on the 6811/6812	p. 210
6811 Interrupts	p. 212
6812 Interrupts	p. 213
Interrupt Vectors and Priority	p. 214
MC68H11E Interrupt Vectors and Priority	p. 214
MC68HC812A4 Interrupt Vectors and Priority	p. 216
MC68HC912B32 Interrupt Vectors and Priority	p. 217
MC9S12C32 Interrupt Vectors and Priority	p. 218
External Interrupt Design Approach	p. 219
Polled Versus Vectored Interrupts	p. 221
Keyboard Interface Using Interrupts	p. 223
Printer Interface Using IRQ Interrupts	p. 226
Power System Interface Using XIRQ Synchronization	p. 229
Interrupt Polling Using Linked Lists	p. 231
6811 Interrupt Polling Using Linked Lists	p. 232
6812 Interrupt Polling Using Linked Lists	p. 234
Fixed Priority Implemented Using One Interrupt Line	p. 235
Fixed Priority Implemented Using XIRQ	p. 237
Round-Robin Polling	p. 238
Periodic Polling	p. 238
MC68HC711E9 Periodic Interrupts	p. 240
MC68HC812A4 Periodic Interrupts	p. 243
MC9S12C32 Periodic Interrupts	p. 245
Exercises	p. 249
Lab Assignments	p. 254
Threads	p. 255
Multithreaded Preemptive Scheduler	p. 256
Round-Robin Scheduler	p. 257
Other Scheduling Algorithms	p. 262
Dynamic Allocation of Threads	p. 262
Semaphores	p. 262
Spin-Lock Semaphore Implementation	p. 263
Blocking Semaphore Implementation	p. 265
Applications of Semaphores	p. 267
Thread Synchronization or Rendezvous	p. 268
Resource Sharing, Nonreentrant Code or Mutual Exclusion	p. 268
Thread Communication Between Two Threads Using a Mailbox	p. 268
Thread Communication Between Many Threads Using a FIFO Queue	p. 268
Fixed Scheduling	p. 269
Exercises	p. 274
Lab Assignments	p. 275
Timing Generation and Measurements	p. 276
Input Capture	p. 276
Basic Principles of Input Capture	p. 276
Input Capture Details	p. 277
Real Time Interrupt Using an Input Capture	p. 281
Period Measurement	p. 283
Pulse-Width Measurement	p. 288
Output Compare	p. 294
General Concepts	p. 294
Output Compare Details	p. 295
Square-Wave Generation	p. 298
Pulse-Width Modulation	p. 301
Delayed Pulse Generation	p. 303
Frequency Measurement	p. 304
Frequency Measurement Concepts	p. 304
Frequency Measurement with [Delta]f = 100Hz	p. 305
Conversion Between Frequency and Period	p. 306
Using Period Measurement to Calculate Frequency	p. 306
Using Frequency Measurement to Calculate Period	p. 307
Measurements Using Both Input Capture and Output Compare	p. 307
Period Measurement with [Delta]p = 1 ms	p. 307
Frequency Measurement with [Delta]f = 0.1Hz	p. 309
Pulse Accumulator	p. 311
MC68HC711 Pulse Accumulator Details	p. 311
MC9S12C32 Pulse Accumulator Details	p. 312
Frequency Measurement	p. 313
Pulse-Width Measurement	p. 314
Pulse-width Modulation on the MC9S12C32	p. 314
Exercises	p. 318
Lab Assignments	p. 323
Serial I/O Devices	p. 326
Introduction and Definitions	p. 326
RS232 Specifications	p. 332
RS422/USB/RS423/RS485 Balanced Differential Lines	p. 334
RS422 Output Specifications	p. 337
RS422 Input Specifications	p. 338
RS485 Half-Duplex Channel	p. 338
Other Communication Protocols	p. 339
Current Loop Channel	p. 339
Introduction to Modems	p. 339
Optical Channel	p. 340
Digital Logic Channel	p. 340
Serial Communications Interface	p. 341
Transmitting in Asynchronous Mode	p. 341
Receiving in Asynchronous Mode	p. 343
MC68HC711E9 SCI Details	p. 345
MC9S12C32 SCI Details	p. 346
SCI Software Interfaces	p. 349
Full Duplex Serial Channel	p. 349
Use of Data Terminal Ready (DTR) to Interface a Printer	p. 352
Use of XON/XOFF to Interface a Printer	p. 354
Synchronous Transmission and Receiving Using the SPI	p. 355
SPI Fundamentals	p. 355
MC68HC711E9 SPI Details	p. 358
MC9S12C32 SPI Details	p. 359
SPI Applications	p. 361
Exercises	p. 368
Lab Assignments	p. 370
Parallel Port Interfaces	p. 375
Input Switches and Keyboards	p. 375
Interfacing a Switch to the Computer	p. 375
Hardware Debouncing Using a Capacitor	p. 377
Software Debouncing	p. 381
Basic Approaches to Interfacing Multiple Keys	p. 386
Sixteen-Key Electronic Piano	p. 389
4 by 4 Scanned Keyboard	p. 393
Multiplexed/Demultiplexed Scanned Keyboard	p. 396
Output LEDs	p. 398
Single LED Interface	p. 400
Seven-Segment LED Interfaces	p. 402
Scanned Seven-Segment LED Interface	p. 402
Scanned LED Interface Using the 7447 Seven-Segment Decoder	p. 405
Integrated LED Interface Using the MC14489 Display Driver	p. 408
Liquid Crystal Displays	p. 410
LCD Fundamentals	p. 410
Simple LCD Interface with the MC14543	p. 412
Scanned LCD Interface with the MC145000, MC145001	p. 414
Parallel Port LCD Interface with the HD44780 Controller	p. 416
Transistors Used for Computer-Controlled Current Switches	p. 419
Computer-Controlled Relays, Solenoids, and DC Motors	p. 421
Introduction to Relays	p. 421
Electromagnetic Relay Basics	p. 422
Reed Relays	p. 424
Solenoids	p. 424
Pulse-Width Modulated DC Motors	p. 424
Interfacing EM Relays, Solenoids, and DC Motors	p. 425
Solid-State Relays	p. 430
Stepper Motors	p. 431
Stepper Motor Example	p. 431
Basic Operation	p. 434
Stepper Motor Hardware Interfaces	p. 438
Stepper Motor Shaft Encoder	p. 441
Exercises	p. 443
Lab Assignments	p. 446
Memory Interfacing	p. 448
Introduction	p. 448
Address Decoding	p. 451
Full-Address Decoding	p. 452
Minimal-Cost Address Decoding	p. 454
Special Cases When Address Decoding	p. 457
Flexible Full-Address Decoder	p. 458
Integrated Address Decoder on the MC68HC812A4	p. 459
Timing Syntax	p. 461
Available and Required Time Intervals	p. 461
Timing Diagrams	p. 463
General Memory Bus Timing	p. 463
Synchronous Bus Timing	p. 464
Partially Asynchronous Bus Timing	p. 465
Fully Asynchronous Bus Timing	p. 466
External Bus Timing	p. 468
Synchronized Versus Unsynch-ronized Signals	p. 468
Freescale MC68HC11A8 External Bus Timing	p. 469
Freescale MC68HC812A4 External Bus Timing	p. 472
Freescale MC9S12C32 External Bus Timing	p. 477
General Approach to Interfacing	p. 483
Interfacing to a 6811	p. 483
Interfacing to a 6812 in Expanded Narrow Mode	p. 484
Interfacing to a 6812 in Expanded Wide Mode	p. 485
Memory Interface Examples	p. 487
32K PROM Interface	p. 487
8K RAM Interface	p. 492
32K by 16-bit PROM Interface to a MC68HC812A4	p. 505
8K by 16-bit RAM Interface	p. 507
Extended Address Data Page Interface to the MC68HC812A4	p. 509
Extended Address Program Page Interface to the MC68HC812A4	p. 511
Dynamic RAM (DRAM)	p. 514
Exercises	p. 514
Lab Assignments	p. 523
High-Speed I/O Interfacing	p. 524
The Need for Speed	p. 524
High-Speed I/O Applications	p. 525
Mass Storage	p. 525
High-Speed Data Acquisition	p. 526
Video Displays	p. 527
High-Speed Signal Generation	p. 527
Network Communications	p. 527
General Approaches to High-Speed Interfaces	p. 528
Hardware FIFO	p. 528
Dual Port Memory	p. 529
Bank-Switched Memory	p. 529
Fundamental Approach to DMA	p. 530
DMA Cycles	p. 530
DMA Initiation	p. 531
Burst Versus Cycle Steal DMA	p. 531
Single-Address Versus Dual-Address DMA	p. 532
DMA Programming	p. 534
LCD Graphics	p. 535
LCD Graphics Controller	p. 535
Practical LCD Graphics Interface	p. 538
Exercises	p. 539
Lab Assignments	p. 540
Analog Interfacing	p. 541
Resistors and Capacitors	p. 541
Resistors	p. 541
Capacitors	p. 542
Operational Amplifiers (Op Amps)	p. 543
Op Amp Parameters	p. 543
Threshold Detector	p. 546
Simple Rules for Linear Op Amp Circuits	p. 547
Linear Mode Op Amp Circuits	p. 549
Instrumentation Amplifier	p. 553
Current-to-Voltage Circuit	p. 555
Voltage-to-Current Circuit	p. 555
Integrator Circuit	p. 555
Derivative Circuit	p. 556
Voltage Comparators with Hysteresis	p. 556
Analog Isolation	p. 557
Analog Filters	p. 558
Simple Active Filter	p. 558
Butterworth Filters	p. 559
Bandpass and Band-Reject Filters	p. 560
Digital-to-Analog Converters	p. 561
DAC Parameters	p. 561
DAC Using a Summing Amplifier	p. 563
Three-Bit DAC with an R-2R Ladder	p. 564
Twelve-Bit DAC with a DAC8043	p. 566
DAC Selection	p. 567
DAC Waveform Generation	p. 570
Analog-to-Digital Converters	p. 573
ADC Parameters	p. 573
Two-Bit Flash ADC	p. 574
Successive Approximation ADC	p. 575
Sixteen-Bit Dual Slope ADC	p. 576
Sigma Delta ADC	p. 577
ADC Interface	p. 578
Sample and Hold	p. 579
BiFET Analog Multiplexer	p. 580
ADC System	p. 582
ADC Block Diagram	p. 582
Power and Grounding for the ADC System	p. 584
Input Protection for High-Speed CMOS Analog Inputs	p. 584
Multiple-Access Circular Queue	p. 585
Internal ADCs	p. 587
6811 ADC System	p. 587
6812 ADC System	p. 589
ADC Software	p. 591
Exercises	p. 593
Lab Assignments	p. 595
Data Acquisition Systems	p. 597
Introduction	p. 597
Accuracy	p. 599
Resolution	p. 601
Precision	p. 601
Reproducibility or Repeatability	p. 602
Transducers	p. 602
Static Transducer Specifications	p. 602
Dynamic Transducer Specifications	p. 606
Nonlinear Transducers	p. 607
Position Transducers	p. 608
Velocity Measurements	p. 609
Force Transducers	p. 611
Temperature Transducers	p. 612
DAS Design	p. 617
Introduction and Definitions	p. 617
Using Nyquist Theory to Determine Sampling Rate	p. 618
How Many Bits Does One Need for the ADC?	p. 621
Specifications for the Analog Signal Processing	p. 621
How Fast Must the ADC Be?	p. 626
Specifications for the S/H	p. 626
Analysis of Noise	p. 627
Thermal Noise	p. 627
Shot Noise	p. 630
1/f, or Pink Noise	p. 630
Galvanic Noise	p. 630
Motion Artifact	p. 630
Electromagnetic Field Induction	p. 631
Techniques to Measure Noise	p. 631
Techniques to Reduce Noise	p. 633
Data Acquisition Case Studies	p. 635
Temperature Measurement	p. 635
EKG Data Acquisition System	p. 639
Position Measurement System	p. 642
Exercises	p. 643
Lab Assignments	p. 650
Microcomputer-Based Control Systems	p. 652
Introduction to Digital Control Systems	p. 652
Open-Loop Control Systems	p. 653
Open-Loop Control of a Toaster	p. 654
Open-Loop Robotic Arm	p. 654
Simple Closed-Loop Control Systems	p. 659
Bang-Bang Temperature Control	p. 659
Closed-Loop Position Control System Using Incremental Control	p. 661
PID Controllers	p. 663
General Approach to a PID Controller	p. 663
Design Process for a PID Controller	p. 666
Velocity PID Controller	p. 668
Proportional-Integral Controller with a PWM actuator	p. 669
Fuzzy Logic Control	p. 672
DAC, ADC Fuzzy Controller	p. 675
PWM Fuzzy Controller	p. 681
Temperature Controller Using Fuzzy Logic	p. 687
Exercises	p. 691
Lab Assignments	p. 694
Simple Networks	p. 696
Introduction	p. 696
Communication Systems Based on the SCI Serial Port	p. 698
Design and Implementation of a Controller Area Network (CAN)	p. 700
The Fundamentals of CAN	p. 700
Details of the 9S12C32 CAN	p. 703
9S12C32 CAN Device Driver	p. 706
Inter-Integrated Circuit (I[superscript 2]C) Network	p. 709
The Fundamentals of the I[superscript 2]C Network	p. 709
I[superscript 2]C Synchronization	p. 712
9S12 I[superscript 2]C Details	p. 714
9S12 I[superscript 2]C Single Master Example	p. 717
Modem Communications	p. 718
FSK Modem	p. 718
Phase-Encoded Modems	p. 721
Quadrature Amplitude Modems	p. 722
X-10 Protocol	p. 723
Universal Serial Bus (USB)	p. 730
Introduction	p. 730
Modular USB Interface	p. 734
Integrated USB Interface	p. 735
Exercises	p. 735
Lab Assignments	p. 739
Digital Filters	p. 742
Basic Principles	p. 743
Simple Digital Filter Examples	p. 745
Impulse Response	p. 752
High-Q 60-Hz Digital Notch Filter	p. 755
Effect of Latency on Digital Filters	p. 760
High-Q Digital High-Pass Filters	p. 762
Digital Low-Pass Filter	p. 763
Direct-Form Implementations	p. 765
Exercises	p. 766
Lab Assignments	p. 767
Appendix 1	p. 769
Appendix 2	p. 789
Index	p. 802
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