Professional Documents
Culture Documents
_ay la tai lieu hng dan s dung CCS lap trnh ngon ng C cho vi ieu khien PIC cua Microchip .
Tac gia ten TRAN XUAN TRNG , SV K2001 ,H BK HCM . La thanh vien txt2203 tren dien
an diendandientu.com . Moi ong gop y kien ve tai lieu xin vao muc Vi x ly-Vi ieu khien cua
dien an hoac email en a ch : txt2203@yahoo.com . Rat cam n moi ong gop y kien cua cac
ban yeu thch lap trnh vi x ly oi vi tai lieu nay .
_Tai lieu hng dan s dung phan mem CCS cac phien ban , lap trnh C cho VK . Tai lieu cung
giai thch cach thc hoat ong cua 1 so module cua VK e cac ban nam ro hn hoat ong VK
nham s dung ham va viet chng trnh 1 cach chnh xac .
_Tai lieu nay khong chu y thay the hoan toan HELP cua CCS , no ch la phan co ong , la hng
dan viet 1 chng trnh bat au t au , gii thieu 1 so ham va cach hoat ong , 1 so van e khi lap
trnh , . . . do o no khong ay u , ban nen oi chieu tai lieu nay vi HELP tieng Anh e nam ro
van e , ong thi hoc ca tieng Anh de dang .
_CCS co phan common questions nhng cau hoi thng gap va tra li , cha c dch ay
du no rat quan trong , nhieu ban hay bo qua , khong e y . Ban nen xem no .
_Tai lieu trnh bay ve cac van e sau :
_ Chng 0 : Gii thieu s lc CCS . Viet 1 chng trnh C trong CCS nh the nao . Cong cu
mo phong .
_ Chng 1 : S dung bien va ham , cac cau truc lenh , ch th tien x ly.
_ Chng 2 : Cac ham x ly so , x ly bit , delay .
_ Chng 3 : X ly ADC , cac ham vao , ra trong C .
_ Chng 4 : Truyen thong vi PC , x ly chuoi .
_ Chng 5 : van e TIMER.
_ Chng 6 : Truyen thong I2C , SPI va PARALLEL .
_ Chng 7 : Cac van e ve PWM , Capture va Compare .
_ Chng 8 : Van e ngat ( interrupt ).
_Trong moi chng se co cac hng dan s dung cac ham thch hp cho chu e o .
_Nen oc chng 1 trc . Cac chng con lai oc lap nhau . Thch g oc nay .
_Tai lieu nay viet en au a len mang cho moi ngi tham khao en o . Hau het se trnh bay s
dung 1 cach c ban nhat , sau o se bo sung them VD,chng trnh, . . . them en au se thong bao
en o .
CHNG 0 :
...
}
#INT_TIMER1
Void xu_ly_ngat_timer ( )
{...
...
}
Main ( )
{...
...
}
_au tien la cac ch th tien x ly : # . . . co nhiem vu bao cho CCS can s dung nhng g trong
chng trnh C nh dung VXL g , co dung giao tiep PC khong , ADC khong , DELAY khong , . . .
_Cac khai bao bien .
_Cac ham con .
_ Cac ham phuc vu ngat theo sau bi 1 ch th tien x ly cho biet dung ngat nao.
_Chng trnh chnh .
CHNG 1 :
_Them signed hoac unsigned pha trc e ch o la so co dau hay khong dau .Khai bao nh tren
mac nh la khong dau . 4 khai bao cuoi khong nen dung v de nham lan . Thay vao o nen dung 4
khai bao au .
VD :
Signed int8 a ;
// so a la 8 bit dau ( bit 7 la bit dau ).
Signed int16 b , c , d ;
Signed int32 , . . .
_Pham vi bien :
Int8 :0 , 255
signed int8 : -128 , 127
Int16 : 0 ,2^15-1
signed int16 : -2^15 , 2^15-1
Int32 : 0 , 2^32-1
signed int32 : -2^31 , 2^31-1
_Khai bao hang : VD :
Int8 const a=231 ;
_Khai bao 1 mang hang so :
VD : Int8 const a[5] = { 3,5,6,8,6 } ;
//5 phan t , ch so mang bat au t 0 : a[0]=3
_Mot mang hang so co kch thc toi a tuy thuoc loai VK:
*NeuVK la PIC 14 ( VD :16F877 ) : ban ch c khai bao 1 mang hang so co kch thc toi a la
256 byte .
Cac khai bao sau la hp le :
Int8 const a[5]={ . . .};
// s dung 5 byte , dau . . . e ban ien so vao
Int8 const a[256]={ . . .};
// 256 phan t x 1 byte = 256 byte
Int16 const a[12] = { . . . };
// 12 x 2= 24 byte
Int16 const a[128] = { . . . };
// 128 x 2= 256 byte
Int16 const a[200] = { . . . };
// 200 x 2 =400 byte : khong hp le
*Neu VK la PIC 18 : khai bao mang hang so thoai mai , khong gii han kch thc .
_Lu y : neu anh khong u so phan t vao trong ngoac kep nh a khai bao , cac phan t con lai
se la 0 . Truy xuat gia tr vt qua ch so mang khai bao se lam chng trnh chay vo tan .
_Mang hang so thng dung lam bang tra (v du bang tra sin ) , viet de dang va nhanh chong , gon
hn so vi khi dung ASM e viet .
_Khai bao 1 bien mang : kch thc tuy thuoc khai bao con tro trong #device va loai VDK:
*PIC 14 : Neu ban khai bao con tro 8 bit : VD # device *=8 : khong gian bo nh ch co 256 byte cho
tat ca cac bien chng trnh bat chap VK cua ban co hn 256 byte RAM (Vd : 368 , . . .) va bien
mang co kch thc toi a tuy thuoc o phan manh bo nh , vi 16F877 co 368 byte ram , thng th
kch thc khong qua 60 byte ,co khi di 40 byte , neu khai bao ln hn se gap loi vo duyen : not
enough ram for all variable trong khi thc s VDK con rat nhieu RAM . Neu khai bao con tro 16 bit
: VD : #device *=16 , khong gian bo nh la ay u ( tr i 1 t RAM do CCS chiem lam bien tam )
.VD : vi 16F877 ban dung u 368 byte RAM . Nhng kch thc mang cung khong qua 60 byte .
* PIC 18 : kch thc mang khong gii han, xai het RAM th thoi . Vi khai bao con tro 8 bit , ban
ch c xai toi a 256 byte RAM , neu khai bao con tro 16 bit , ban xai tron bo nh RAM thc s .
_VD Khai bao bien mang : int16 a[125] ; // bien mang 126 phan t , kch thc 252 byte ram .
2 / _ Cach s dung bien :
_Khi s dung cac phep toan can lu y : s tran so , tnh toan vi so am , s chuyen kieu va ep kieu .
5
_VD :
Int8 a=275;
Int8 const a=275
Int8 a=40 , b=7 , c;
C=a * b ;
C=a / b ;
// a =275-256=19
//a=19
//c=280-256=24
//c=5
_Ban co the ep kieu , thng la tiet kiem ram , hay muon tiet kiem thi gian tnh , . . .. VD :
Int8 a =8 , b=200;
Int16 c ;
C= ( int16) a * b ;
// c= 1600 , a chuyen sang 16 bit , 16bit*8bit b t ong chuyen sang 16 bit , ket qua la 16 bit trong
c , lu y bien a , b van la 8 bit .
_8bit * 8bit phep nhan la 8 bit , KQ la 8 bit
_16bit * 8 bit phep nhan la 16 bit , KQ la 16 bit
_32bit * 16 bit phep nhan la 32 bit , KQ la 32 bit
_16bit * 16 bit phep nhan la 16 bit , KQ la 16 bit
...v.v...
_Co the ep kieu ket qua : VD : 16b*8b16bit , neu gan vao bien 8 bit th KQ se cat bo 8 bit cao .
EXAMPLE
if (x==25)
x=1;
else
x=x+1;
while (get_rtcc()!=0)
while (expr) stmt;
putc(n);
do {
do stmt while (expr);
putc(c=getc());
} while (c!=0);
for (i=1;i<=10;++i)
for (expr1;expr2;expr3) stmt;
printf(%u\r\n,i);
switch
(cmd) {
switch (expr) {
case 0: printf(cmd 0);
case cexpr: stmt; //one or more case
break;
[default:stmt]
case 1: printf(cmd 1);
... }
break;
default: printf(bad cmd);
break; }
return (5);
return [expr];
goto loop;
goto label;
loop: I++;
label: stmt;
break;
break;
continue;
continue;
i=1;
expr;
;
{a=1;
b=1;}
;
{[stmt]}
Zero or more
_while (expr) stmt : xet ieu kien trc roi thc thi bieu thc sau .
_ do stmt while (expr) : thc thi bieu thc roi mi xet ieu kien sau .
_Return : dung cho ham co tra ve tr , hoac khong tra ve tr cung c , khi o ch can dung: return
; ( ngha la thoat khoi ham tai o ) .
_Break : ngat ngang ( thoat khoi ) vong lap while. _Continue : quay tr ve au vong lap while .
III / _ CH TH TIEN X LY :
_Xem chi tiet tat ca phan HELP , muc pre_processor . ay se gii thieu 1 so ch th thng dung
nhat :
1 /_ #ASM va #ENDASM :
_Cho phep at 1 oan ma ASM gia 2 ch th nay , Ch at trong ham . CCS nh ngha san 1 bien 8
bit _RETURN_ e ban gan gia tr tra ve cho ham t oan ma Assembly.
_C u manh e thay the Assmemly . V vay nen han che long ma Assembly vao v thng gay ra
xao tron dan en sau khi bien dch ma chay sai , tr phi ban nam ro Assembly va oc hieu ma
Assembly sinh ra thong qua muc C/Asm list .
_Khi s dung cac bien khong bank hien tai , CCS sinh them ma chuyen bank t ong cho cac bien
o . Neu s dung #ASM ASIS th CCS khong sinh them ma chuyen bank t ong , ban phai t them
vao trong ma ASM .
_Lu y : ma Assembly theo ung ma tap lenh VDK , khong phai ma kieu MPLAB .
_VD :
int find_parity (int data)
int count;
#asm
movlw 0x8
movwf count
movlw 0
loop:
xorwf data,w
rrf data,f
decfsz count,f
goto loop
movwf _return_
#endasm
}
2 / _ #INCLUDE :
_Cu phap : #include <filename>
Hay #include filename
Filename : ten file cho thiet b *.h , *.c . Neu ch nh file ng dan khac th them ng dan vao
. Luon phai co e khai bao chng trnh viet cho VK nao , va luon at dong au tien .
_VD :
#include <16F877.H>
VD : #define a 12345
4 / _ # DEVICE :
# DEVICE chip option
chip : ten VK s dung , khong dung tham so nay neu a khai bao ten chip # include .
option : toan t tieu chuan theo tng chip:
* = 5 dung pointer 5 bit ( tat ca PIC )
* = 8 dung pointer 8 bit ( PIC14 va PIC18 )
* = 16 dung pointer 16 bit ( PIC14 ,PIC 18)
ADC = x
s dung ADC x bit ( 8 , 10 , . . . bit tuy chip ) , khi dung ham read_adc( ) , se tra
ve gia tr x bit .
ICD = true
: tao ma tng thch debug phan cng Microchip
HIGH_INTS = TRUE
: cho phep dung ngat u tien cao
_Khai bao pointer 8 bit , ban s dung c toi a 256 byte RAM cho tat ca bien chng trnh .
_Khai bao pointer 16 bit , ban s dung c het so RAM co cua VDK .
_Ch nen dung duy nhat 1 khai bao #device cho ca pointer va ADC .
VD : #device * = 16 ADC = 10
5 / _ # ORG :
# org start , end
# org segment
#org start , end { }
Start , end: bat au va ket thuc vung ROM danh rieng cho ham theo sau , hoac e rieng khong dung
.
VD :
Org 0x30 , 0x1F
Void xu_ly( )
{
}
// ham nay bat au a ch 0x30
org 0x1E00
anotherfunc( )
{
}
//ham nay bat au tuy y 0x1E00 en 0x1F00
Org 0x30 , 0x1F { }
// khong co g ca at trong vung ROM nay
_Thng th khong dung ORG .
6 / _ # USE :
# USE delay ( clock = speed )
Speed : gia tr OSC ma ban dung . VD: dung thach anh dao ong 40Mhz th :
#use delay( clock = 40000000)
_Ch khi co ch th nay th trong chng trnh ban mi c dung ham delay_us ( ) va delay_ms( ) .
#USE fast_io ( port)
Port : la ten port :t A-G ( tuy chip )
9
_Dung cai nay th trong chng trnh khi dung cac lenh io nh output_low() , . . . no se set ch vi 1
lenh , nhanh hn so vi khi khong dung ch th nay.
_Trong ham main( ) ban phai dung ham set_tris_x( ) e ch ro chan vao ra th ch th tren mi co
hieu lc , khong th chng trnh se chay sai .
_Khong can dung neu khong co yeu cau g ac biet .
VD : # use fast_io( A )
#USE I2C ( options )
_Thiet lap giao tiep I2C.
Option bao gom cac thong so sau, cach nhau bi dau phay :
Master
: chip che o master
Slave
: chip che o slave
SCL = pin
: ch nh chan SCL
SDA = pin
: ch nh chan SDA
ADDRESS =x
: ch nh a ch che o slave
FAST
: ch nh FAST I2C
SLOW
: ch nh SLOW I2C
RESTART_WDT
: restart WDT trong khi ch I2C_READ( )
FORCE_HW
: s dung chuc nang phan cng I2C ( neu chip ho tr )
NOFLOAT_HIGH : khong cho phep tn hieu float high ( ??? ) , tn hieu c lai t thap len cao.
SMBUS
: bus dung khong phai bus I2C , nhng la cai g o tng t .
_VD :
#use I2C ( master , sda=pin_B0 , scl = pin_B1 )
#use I2C (slave , sda= pin_C4 , scl= pin_C3 , address = 0xa00 , FORCE_HW )
#USE RS232 ( options )
_Thiet lap giao tiep RS232 cho chip ( co hieu lc sau khi nap chng trnh cho chip , khong phai
giao tiep RS232 ang s dung e nap chip ) .
Option bao gom :
BAUD = x
: thiet lap toc o baud rate : 19200 , 38400 , 9600 , . . .
PARITY = x
: x= N ,E hay O , vi N : khong dung bit chan le .
XMIT = pin
: set chan transmit ( chuyen data)
RCV = pin
: set chan receive ( nhan data )
_Cac thong so tren hay dung nhat , cac tham so khac se bo sung sau.
VD :
#use rs232(baud=19200,parity=n,xmit=pin_C6,rcv=pin_C7)
MOT SO VAN E QUAN TRONG KHAC xem chi tiet trong phan HELP :
_Bieu thc : xem HELP->Expressions , trong o : bieu th so trong C:
123 : so decimal
0x3 , 0xB1 : so hex
0b100110 : so binary
a : ky t
abcd : chuoi , ky t null c them pha sau
_Cac toan t C : xem Operators
>= , < = , = = , != ( khong bang )
&& : and
|| : or
! : not ( ao cua bit , khong phai ao cua byte )
>>n : dch trai n bit
<< n : dch phai n bit
++ , - - , += , - = , . . .
CHNG 2 :
bit_test()
make32()
Swap()
_Dch phai (trai ) 1 bit vao 1 mang hay 1 cau truc . a ch co the la a ch mang hay a ch tro ti
cau truc ( kieu nh &data) . Bit 0 byte thap nhat la LSB .
2 / Rotate_right () , rotate_left ()
_Noi chung 4 ham nay t s dung .
3 / Bit_clear ( var , bit )
Bit_set ( var , bit )
_Bit_clear ( ) dung xoa ( set = 0 ) bit c ch nh bi v tr bit trong bien var .
_Bit_set ( ) dung set=1 bit c ch nh bi v tr bit trong bien var .
_var : bien 8 , 16 , 32 bit bat ky .
_bit : v tr clear ( set ) : t 0-7 ( bien 8 bit) , 0-15 ( bien 16 bit ) , 0-31 (bien 32 bit ) .
_Ham khong tra ve tr .
VD :
Int x;
X=11 ;
//x=1011
Bit_clear ( x ,1 ) ;
// x= 1001b = 9
4 / Bit_test ( var , bit ) :
_Dung kiem tra v tr bit trong bien var .
_Ham tra ve 0 hay 1 la gia tr bit o trong var .
_var : bien 8, 16 ,32 bit .
_bit : v tr bit trong var .
_Gia s ban co bien x 32 bit em t 0 len va muon kiem tra xem no co ln hn 4096 khong ( 4096=
2^12 =1000000000000b) :
If ( x >= 4096) . . .
// phep kiem tra nay mat ~5 us
Trong 1 vong lap , viec kiem tra thng xuyen nh vay se lam mat 1 thi gian ang ke . e toi u ,
ch can dung : if ( bit_test ( x, 12 ) ch mat ~ 0.4 us . ( 20 Mhz thach anh ) .
_Kiem tra em len ti nhng gia tr ac biet ( 2^ i) th dung ham nay rat tien li.
5 / Swap ( var ) :
_var : bien 1 byte
_Ham nay trao v tr 4 bit tren vi 4 bit di cua var , tng ng var =( var>>4 ) | ( var << 4 )
_Ham khong tra ve tr .
VD :
X= 5 ;
//x=00000101b
Swap ( x) ; //x = 01010000b = 80
6 / make8 ( var , offset ) :
_Ham nay trch 1 byte t bien var .
_var : bien 8,16,32 bit . offset la v tr cua byte can trch ( 0,1,2,3) .
_Ham tra ve gia tr byte can trch .
VD :
Int16 x = 1453 ;
// x=0x5AD
Y = Make(x, 1) ;
//Y= 5 = 0x05
7 / make16 ( varhigh , varlow ) :
12
_Tra ve gia tr 16 bit ket hp t 2 bien 8 bit varhigh va varlow . Byte cao la varhigh , thap la varlow
.
8 / make32 ( var1 , var2 , var3 , var4 ) :
_Tra ve gia tr 32 bit ket hp t cac gia tr 8 bit hay 16 bit t var1 ti var4 . Trong o var2 en var4
co the co hoac khong . Gia tr var1 se la MSB , ke tiep la var2 , . . .Neu tong so bit ket hp t hn 32
bit th 0 c them vao MSB cho u 32 bit .
VD:
Int a=0x01 , b=0x02 , c=0x03 , d=0x04 ;
// cac gia tr hex
Int32 e ;
e = make32 ( a , b , c , d );
// e = 0x01020304
e = make32 ( a , b , c , 5 ) ;
// e = 0x01020305
e = make32 ( a, b, 8 );
// e = 0x00010208
e = make32 ( a ,0x1237 ) ;
// e = 0x00011237
CHNG 3 :
I / _ X LY ADC :
_PIC co nhieu chan phuc vu x ly ADC vi nhieu cach thc khac nhau . e dung ADC , ban phai
co khai bao #DEVICE cho biet dung ADC may bit ( tuy chip ho tr , thng la 8 hay 10 bit hoac
hn) . Ban can lu y la: 1 VDK ho tr ADC 10 bit th gia tr vao luon la 10 bit , nhng chia cho 4 th
con 8 bit . Do o 1 bien tr chiet ap cap cho ngo vao ADC ma ban chon che o 10 bit th se rat nhay
so vi che o 8 bit ( v 2 bit cuoi co thay oi cung khong anh hng gia tr 8 bit cao va do o ket qua
8 bit ADC t thay oi ) , neu chng trnh co che o kiem tra ADC e cap nhat tnh toan , hay dung
ngat ADC , th no se chay hoai thoi . Dung ADC 8 bit se han che ieu nay . Do o ma CCS cung
cap chon la ADC 8 hay 10 bit tuy muc ch s dung .
2 / Setup_ADC_ports ( value )
_Xac nh chan lay tn hieu analog va ien the chuan s dung . Tuy thuoc bo tr chan tren chip , so
chan va chan nao dung cho ADC va so chc nang ADC moi chip ma value co the co nhng gia tr
khac nhau. Xem file tng ng trong th muc DEVICES e biet so chc nang tng ng chip o .
e tng thch chng trnh viet cho phien ban cu , 1 so tham so co 2 ten khac nhau ( nhng cung
14
chc nang do nh ngha cung a ch ) , ay dung phien ban 3.227 .Lu y : Vref : ap chuan ,
Vdd : ap nguon
Sau ay la cac gia tr cho value ( ch dung 1 trong cac gia tr ) cua 16F877 :
ALL_ANALOGS
: dung tat ca chan sau lam analog : A0 A1 A2 A3 A5 E0 E1 E2
(Vref=Vdd)
NO_ANALOG
: khong dung analog , cac chan o se la chan I /O .
AN0_AN1_AN2_AN4_AN5_AN6_AN7_VSS_VREF
: A0 A1 A2 A5 E0 E1 E2 VRefh=A3
AN0_AN1_AN2_AN3_AN4
: A0 A1 A2 A3 A5
( ten th giong nhau cho tat ca thiet b nhng 16F877 ch co portA co 5 chan nen A0 , A1 , A2 , A5
c dung , A6 , A7 khong co )
AN0_AN1_AN3
: A0 A1 A3 , Vref = Vdd
AN0_AN1_VSS_VREF
: A0 A1 VRefh = A3
AN0_AN1_AN4_AN5_AN6_AN7_VREF_VREF
: A0 A1 A5 E0 E1 E2 VRefh=A3 ,
VRefl=A2 .
AN0_AN1_AN2_AN3_AN4_AN5
: A0 A1 A2 A3 A5 E0
AN0_AN1_AN2_AN4_AN5_VSS_VREF
: A0 A1 A2 A5 E0 VRefh=A3
AN0_AN1_AN4_AN5_VREF_VREF
: A0 A1 A5 E0 VRefh=A3 VRefl=A2
AN0_AN1_AN4_VREF_VREF
: A0 A1 A5 VRefh=A3 VRefl=A2
AN0_AN1_VREF_VREF
: A0 A1 VRefh=A3 VRefl=A2
AN0
: A0
AN0_VREF_VREF
: A0 VRefh=A3 VRefl=A2
VD : setup_adc_ports (AN0_AN1_AN3 ) ;
cho IC se la ien ap chuan .
3 / Set_ADC_channel ( channel ) :
_Chon chan e oc vao gia tr analog bang lenh Read_ADC ( ) . Gia tr channel tuy so chan chc
nang ADC moi chip .Vi 16F877 , channel co gia tr t 0 -7 :
0-chan A0
1-chan A1
2-chan A2
3-chan A3
4-chan A5
5-chan E0
6-chan E1
7-chan E2
_Ham khong tra ve tr . Nen delay 10 us sau ham nay roi mi dung ham read_ADC ( ) e bao am
ket qua ung . Ham ch hoat ong vi A /D phan cng tren chip.
4 / Read_ADC ( mode ) :
_Dung oc gia tr ADC t thanh ghi (/ cap thanh ghi ) cha ket qua bien oi ADC . Lu y ham nay
se hoi vong c cho ti khi c nay bao a hoan thanh bien oi ADC ( se mat vai us ) th xong ham .
_Neu gia tr ADC la 8 bit nh khai bao trong ch th #DEVICE , gia tr tra ve cua ham la 8 bit ,
ngc lai la 16 bit neu khai bao #DEVICE s dung ADC 10 bit tr len .
_Khi dung ham nay , no se lay ADC t chan ban chon trong ham Set_ADC_channel( ) trc o .
Ngha la moi lan ch oc 1 kenh Muon oi sang oc chan nao , dung ham set_ADC_channel( ) lay
chan o . Neu khong co oi chan , dung read_ADC( ) bao nhieu lan cung c .
_mode co the co hoac khong , gom co :
ADC_START_AND_READ
: gia tr mac nh
ADC_START_ONLY
: bat au chuyen oi va tra ve
ADC_READ_ONLY
: oc ket qua chuyen oi lan cuoi
15
#DEVCE
8 bit
10 bit
11 bit
ADC=8
0-255
0-255
00-255
ADC=10
x
0-1023
x
ADC=11
x
x
0-2047
ADC=16
0-65280 0-65472
0-65504
_16F877 ch ho tr ADC 8 va 10 bit .
VD :
setup_adc( ADC_CLOCK_INTERNAL );
setup_adc_ports( ALL_ANALOG );
set_adc_channel(1);
while ( input(PIN_B0) )
{
delay_ms( 5000 );
value = read_adc();
printf("A/D value = %2x\n\r", value);
}
read_adc(ADC_START_ONLY);
sleep();
value=read_adc(ADC_READ_ONLY);
16 bit
00-255
x
x
0-65535
_Lu y : tren PIC 18 , cau truc ADC tng oi phc tap , a nang hn nh la cho phep lay 2 mau
cung luc , . . . cung s dung vi cac ham tren , co nhieu thong so trong file *.h , se e cap sau .
5 / _ V du :
_Chng trnh sau lay ADC 8 bit , oc va xuat ra day led port B , va xuat ra man hnh may tnh .
_Ket noi chan tren 16F877 : RA0 la chan lay Analog vao , ap chuan la nguon +5V , mass=0 V
_Hnh sau trch trong tai lieu thay Nguyen Tan Tien viet T6-2002 .
Reset Button
1
2
5V
+
470uF-25V
0.1uF
10K
1
10K
LED
U1
0.1uF
3
OUT
Analog Input
Osillator
20MHz
Digital Output
SCO-060
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
MCLR
RA0
RA1
RA2
RA3
RA4
RA5
RE0
RE1
RE2
VDD
GND
OSC1
OSC2
RC0
RC1
RC2
RC3
RD0
RD1
RB7
RB6
RB5
RB4
RB3
RB2
RB1
RB0
VDD
GND
RD7
RD6
RD5
RD4
RC7
RC6
RC5
RC4
RD3
RD2
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
R 330
J1
4
3
2
1
to RS232
PIC16F877
Main( )
{
Setup_ADC ( ADC_internal ) ;
Setup_ADC_ports (AN0);
Set_ADC_channel ( 0 ) ;
Delay_us (10 );
// delay 10 us
While (true )
{
adc = read_adc ( ) ;
Output_B ( adc ) ;
// xuat ra port B gia tri bien adc
Printf( gia tri adc la : %u , adc ) ;
// in ra man hinh
}
}
// gia tr bien adc t 0-255 , dung chng trnh Serial port Monitor trong muc Tools cua CCS e
giam sat gia tr . Nh thiet lap toc o la 19200 nh khai bao tren .
17
_Ham nay cung xuat gia tr 0 / 1 tren pin , tng t 2 ham tren . Thng dung no khi gia tr ra tuy
thuoc gia tr bien 1 bit nao o , hay muon xuat ao cua gia tr ngo ra trc o .
VD :
Khai bao int1 x;
// x mac nh = 0
Trong ham main :
Main()
{
while (1 )
{
output_bit( pin_B0 , !x ) ;
Delay_ms(250 );
}
}
Chng trnh tren cung xuat xung vuong chu ky 500ms ,duty =50%
3 / Output_float ( pin ) :
_Ham nay set pin nh ngo vao , cho phep pin mc cao nh 1 cc thu h (This will allow the pin to
float high to represent a high on an open collector type of connection , dch nh vay khong biet ung
khong na ? , chac la thiet lap nh ngo vao tong tr cao th phai ) .
4 / Input ( pin ) :
_Ham nay tra ve gia tr 0 hay 1 la trang thai cua chan IC . Gia tr la 1 bit
5 / Output_X ( value ) :
_X la ten port co tren chip . Value la gia tr 1 byte .
_Ham nay xuat gia tr 1 byte ra port . Tat ca chan cua port o eu la ngo ra .
VD :
Output_B ( 212 ) ;
// xuat gia tr 11010100 ra port B
6 / Input_X ( ) :
_X : la ten port ( a, b ,c ,d e ) .
_Ham nay tra ve gia tr 8 bit la gia tr ang hien hu cua port o .VD : m=input_E();
7 / Port_B_pullups ( value ) :
_Ham nay thiet lap ngo vao port B pullup ( ien tr keo len ?) . Value =1 se kch hoat tnh nang nay
va value =0 se ngng .
_Ch cac chip co port B co tnh nang nay mi dung ham nay .
8 / Set_tris_X ( value ) :
_Ham nay nh ngha chan IO cho 1 port la ngo vao hay ngo ra. Ch c dung vi #use fast_IO . S
dung #byte e tao bien ch en port va thao tac tren bien nay chnh la thao tac tren port .
_Value la gia tr 8 bit . Moi bit ai dien 1 chan va bit=0 se set chan o la ngo vao , bit= 1 set chan
o la ngo ra .
VD : chng trnh sau cho phep thao tac tren portB 1 cach de dang:
#include < 16F877.h >
#use delay(clock=20000000)
#use Fast_IO( B )
#byte portB = 0x6
// 16F877 co port b a ch 6h
#bit B0 = portB. 0
// bien B0 ch en chan B0
#bit B1=portB.1
// bien B1 ch en chan B1
18
#bit B2=portB.2
#bit B3=portB.3
#bit B4=portB.4
#bit B5=portB.5
#bit B6=portB.6
#bit B7=portB.7
Main()
{
set_tris_B ( 126 ) ;
// bien B2 ch en chan B2
// bien B3 ch en chan B3
// bien B4 ch en chan B4
// bien B5 ch en chan B5
// bien B6 ch en chan B6
// bien B7 ch en chan B7
//portB=01111110 b
// B0 la ngo vao , thng lam ngat ngoai
//B1 . . . B6 la ngo ra , Vd lam 6 ngo ra ieu che PWM
//B7 la ngo vao , Vd la nhan tn hieu cho phep chang han
//neu ngo vao chan B7 la 1 th xuat 3 cap xung oi nghch
if ( B7 )
{
B1 = 1 ;
B2 = 0 ;
B3 = 1 ;
B4 = 0 ;
B5 = 1 ;
B6 = 0 ;
}
Else B1=B2=B3=B4=B5=B6= 0;
}
_Lu y :
_Set_tris_B (0 ) : port B =00000000 : tat ca chan portB la ngo ra
_set_tris_B ( 1 ) : portB = 00000001 : ch B0 la ngo vao , con lai la ngo ra
_set_tris_B ( 255 ) : portB=11111111: tat ca chan portB la ngo vao
toi cung tng nham lan khi ngh set_tris_B(1) la set tat ca la ngo vao , rat tai hai . Ban nen
dung gia tr dang nh phan cho de . VD : set_tris_B ( 00110001b ) ;
_en ay la ban co the viet nhieu chng trnh thu v roi o. Vd nh la dung ADC e ieu chnh
toc o nhap nhay cua day en led , truyen gia tr 8 bit t chip nay sang chip khac , . . .
_Chng trnh VD sau dung ADC qua chan A0 e ieu chnh toc o nhap nhay day en led noi vao
port B , co the dung fast_io hay ham output_B () e xuat gia tr eu c . chng trnh dung ham .
Neu ngo vao chan C0 =0 th tiep tuc nhan ADC va xuat ra portB, C0=1 th khong xuat
#include <16F877.h>
#device *=16 ADC= 8
#use delay( clock =20000000)
Int8 ADC_delay ;
Void hieu_chinh ( )
{
ADC_delay = read_adc ( 0 ) ;
Output_B ( 0) ;
//portB=00000000
Delay_ms ( ADC_delay );
Output_B ( 255 ) ;
// portB= 11111111
Delay_ms ( ADC_delay );
}
19
Main()
{
setup_adc_ports(AN0_AN1_AN3);
setup_adc(adc_clock_internal);
set_adc_channel ( 0 );
while(1)
{
hieu_chinh ( ) ;
If ( input ( pin_C0 )
{
output_B (0 );
Break ;
}
}
}
//while
// main
CHNG 4 :
20
_Nhng neu lap trnh ASM cho van e nay roi th ban se thay sao de dang qua vay khi giai quyet
van e nay vi C khi dung CCS . Rat n gian ! CCS cung cap rat nhieu ham phuc vu cho giao tiep
qua RS232 ( cong COM ) va vo so ham x ly chuoi . Chng nay se giai quyet ieu o .
_Mot yeu to quan trong la khi nao th VK biet PC truyen data co the lap trnh bat tay bang phan
mem hay n gian la dung ngat . Cac v du ve ngat , xem phan ngat .
_Tat ca cac ham tren oi hoi phai khai bao ch th tien x ly #use RS232 ( . . . . .) .
_Ham perror ( ) oi hoi them #include<errno.h > . Ham assert() oi hoi them #include<assert.h> .
1 / printf ( string )
Printf ( cstring , values . . . )
_Dung xuat chuoi theo chuan RS232 ra PC .
_string la 1 chuoi hang hay 1 mang ky t ( ket thuc bi ky t null ) .
_value la danh sach cac bien , cach nhau bi dau phay .
_Ban phai khai bao dang format cua value theo kieu %wt .Trong o w co the co hoac khong , co
gia tr t 1-9 ch ro co bao nhieu ky t c xuat ra ( mac nh khong co th co bao nhieu ra bay
nhieu ), hoac 01-09 se chen them 0 cho u ky t hoac 1.1-1.9 cho trng hp so thc . con t la kieu
gia tr .
_ t co the la :
C : 1 ky t
S : chuoi hoac ky t
U : so 8 bit khong dau
x : so 8 bit kieu hex ( ky t viet thng ,VD : 1ef )
X : so 8 bit kieu hex ( ky t viet hoa ,VD : 1EF )
D : so 8 bit co dau
e : so thc co luy tha VD : e12
f : so thc
21
Value=0xfe
254
254
*
254
-2
Fe
FE
00FE
CHNG 6 :
ti chan SDI cua slave . Khong kiem tra chan le , loi . Do o Vdu neu ang truyen c 3 bit ma
master reset hay h day clock th data b mat , slave se khong nhan u 8 bit va do o neu tiep tuc
nhan no se lay 5 bit byte ke tiep a vao thanh ghi nhan e u 8 bit ( va e kch ngat ) . T o tr
i la moi gia tr nhan la sai bet tr phi cham dt va sau o thiet lap lai giao tiep nay ( ca hai ) .
_Giao tiep nay can t nhat 2 day tr len . Neu 1 VDK ch can gi data th ch can day clock va SDO
.VDK nhan se dung SDI va day clock . Day clock la noi chung .
_Neu co gi va nhan ca 2 VDK th : day clock chung , master co SDO noi ti SDI cua slave , SDO
cua slave noi ti SDI cua master .
_Neu master can truyen data cho nhieu slave tr len th SDO master noi ti cac SDI cua slave .
_Chan SS la slave select .
_SPI hoat ong t phan cng , v no co san thanh ghi gi va nhan , nhan u gia tr th co c ngat
phuc vu .
_Danh sach cac ham :
1 / Setup_spi (mode )
Setup_spi2 (mode )
_Dung thiet lap giao tiep SPI . Ham th 2 dung vi VDK co 2 bo SPI .
_Tham so mode :la cac hang so sau , co the OR gia cac nhombi dau |
SPI_MASTER , SPI_SLAVE , SPI_SS_DISABLED
SPI_L_TO_H , SPI_H_TO_L
SPI_CLK_DIV_4 , SPI_CLK_DIV_16 , SPI_CLK_DIV_64 , SPI_CLK_T2
_Nhom 1 xac nh VDK la master hay slave ,slave select
_Nhom 2 xac nh clock canh len hay xuong .
_Nhom 3 xac nh tan so xung clock , SPI_CLK_DIV_4 nga la tan so = FOSC / 4 , tng ng 1 chu
ky lenh / xung .
_Ham khong tra ve tr .
_Ngoai ra ,tuy VDK ma co them 1 so tham so khac , xem file * .h .
2 / Spi_read ( data )
Spi_read2 ( data )
_data co the co them va la so 8 bit . Ham th 2 cho bo SPI th 2 .
_Ham tra ve gia tr 8 bit value = spi_read ( )
_Ham tra ve gia tr oc bi SPI . Neu value phu hp SPI_read ( ) th data se c phat xung ngoai
va data nhan c se c tra ve . Neu khong co data san sang , spi_read ( ) se i data .
_Ham ch dung cho SPI hardware ( SPI phan cng ) .
3 / spi_write ( value )
Spi_write2 ( value )
_Ham khong tra ve tr . value la gia tr 8 bit .
_Ham nay gi value ( 1 byte ) ti SPI , ong thi tao 8 xung clock .
_ Ham ch dung cho SPI hardware ( SPI phan cng ) .
4 / spi_data_is_in ( )
Spi_data_is_in2 ( )
_Ham tra ve TRUE ( 1 ) neu data nhan c ay u ( 8 bit ) t SPI , tra ve false neu cha nhan u .
_Ham nay dung kiem tra xem gia tr nhan ve SPI a u 1 byte cha e dung ham spi_read ( ) oc
data vao bien .
23
CHNG 7 :
Bang tren ( trong datasheet PIC16F877 ) cho thay : neu ca 2 module dung cung chc nang Capture
th se dung chung bo em timer1 , ngha la moi hoat ong va ieu chnh Timer1 eu anh hng ti
ca 2 module . Tng t neu dung cung chc nang PWM se dung chung Timer2 . Con neu 1 module
la Capture , module kia la Compare th phai lu y la chc nang compare co the clear Timer1 , va do
o cung anh hng chc nang con lai . Con 2 TH cuoi th khong co van e g .
_ che o Capture : moi khi co canh len cua xung vao chan CCPx th gia tr Timer1 (16 bit )se c
copy vao thanh ghi CCP ( 16 bit ) .
_ che o Compare : khi gia tr nap CCP bang gia tr em Timer1 th cac s kien c ch nh
trc xay ra :chan CCPx c lai ra mc thap / cao / khong co g nhng co ngat hay bien oi AD .
_Che o PWM ( pulse width modulation ieu che o rong xung ) : xuat xung vuong bang phan
cng .
_Ban s dung ham setup_ccpX() e xac nh chc nang muon dung tren module CCP . tham so cu
the co the tra trong HELP , hoac xem tng TH cu the di ay .
II / _CHE O CAPTURE :
_Dung e xac nh toc o quay cua motor . Gia s ta co 1 thiet b o toc o quay ( cam bien Hall )
ma moi khi motor quay 1 vong th thiet b phat 1 xung vuong ( canh len roi canh xuong hay xung
mc 1 , hay canh xuong roi canh len tc la xung mc 0 ) . ay ta gia thiet xung mc 1 . Xung nay
dan vao module capture ( co the qua cach ly an toan ) va gia thiet ta chon che o bat canh len .
Ngha la c moi 1 canh len cua xung vao , gia tr cua timer1 copy vao CCP . V motor khong phai
quay eu nen ta thng chon so lan capture la vai chuc lan . ( hnh nh la vay ??? )
24
_Viec Capture thng i kem 1 cai ham ngat . Cach thc chng trnh hoat ong nh sau : xung vao
Capture se kch ngat , trong ham ngat ,ta lay gia tr CCPx tnh ra c thi gian cho 1 vong quay
,cong don no vao 1 bien e tnh thi gian tong , set Timer1 ve 0 , tang gia tr bien em vong len 1 ,
roi thoat ngat . Vi 1 ong c ang chay khoang 1200vong / phut , tuy thuoc vao tan suat cap nhat
gia tr so vong quay ( e hien th ra LED 7 oan hay LCD ) ban can o 1 so lng vong nhat nh
e am bao chnh xac , VD o 1500 vong , tc la bien em phai em ti 1500 , tnh tong thi gian
o , VD la 80 s , th toc o ong c = ( 1500 / 80 ) * 60 = 1125 vong / phut .
_Hay quen module nay i neu ban dung 1 encoder e o toc , von phat ra ti 500-2000 xung / vong
.Ngha la can chng o lan ngat e ch o 1 vong VDK se phai dung toan bo thi gian hoat ong
e em , co khi khong kp . Viec chng trnh chnh khong the chay v ngat c xay ra lien tuc goi la
tran , no se chang lam c g ca . e giai quyet , ngi ta dung module QEI hay IC3 von ch co
tren PIC 18 nh 18F4431 .
_Capture con dung e o o rong xung . S dung CCP1 lay canh len , CCP2 lay canh xuong cua
cung 1 xung ,tc la 2 CCP noi nhau . 1 xung vuong i vao kch CCP1 trc ( canh len ), thu c gia
tr timer luc , canh xuong cua xung kch CCP2 thu c gia tr timer luc xuong canh . Lay 2 gia tr
tr nhau c o rong xung . ch can 1 ngat CCP2 la u .
IV / _CHE O PWM :
_Xuat chuoi xung vuong , o rong hieu chnh c de dang . Thng dung e ieu chnh ien ap
DC . Xung ra se ong cat 1 linh kien nh la SCR, vi o rong xung xac nh se tao ra 1 ien ap
trung bnh xac nh . Thay oi o rong xung se thay oi ien ap nay , do o co the dung ieu khien
ong c DC nho ( ? ? ?) .
CCP_2_LOW , ban khong can khai bao . Dung luon cac ten o e lay tr khi dung module Cap , hay
gan tr khi dung Compare . Ban co the thay ieu nay khi m muc RAM symbol map quan sat phan
bo bo nh .
1 / _ Setup_CCPx ( mode ) :
_Dung trc tien e thiet lap che o hoat ong hay vo hieu tnh nang CCP .
X= 1,2, . . .ten chan CCP co tren chip .
Mode la 1 trong cac hang so sau : ( cac hang so khac co the co them trong file *. h va tuy VDK)
CCP_OFF : tat chc nang CCP , RC se la chan I /O .
CCP_CAPTURE_RE
: capture khi co canh len
CCP_CAPTURE_FE
: capture khi co canh xuong
CCP_CAPTURE_DIV_4
: ch capture sau khi em u 4 canh len ( 4 xung ).
CCP_CAPTURE_DIV_16 : ch capture sau khi em u 16 canh len ( 16 xung ).
s dung e lam dan thi gian VDK e danh cho cong viec khac thay v c update tng xung .
Che o compare :
CCP_COMPARE_SET_ON_MATCH
: xuat xung mc cao khi TMR1=CCPx
CCP_COMPARE_CLR_ON_MATCH
: xuat xung mc thap khi TMR1=CCPx
CCP_COMPARE_INT
: ngat khi TMR1=CCPx
CCP_COMPARE_RESET_TIMER
: reset TMR1 =0 khi TMR1=CCPx
Che o PWM :
CCP_PWM
: bat che o PWM
CCP_PWM_PLUS_1
: khong ro chc nang
CCP_PWM_PLUS_2
: khong ro chc nang
CCP_PWM_PLUS_3
: khong ro chc nang
2 / _ Set_CCPx_duty ( value ) :
Value : bien hay hang , gia tr 8 hay 16 bit .
x= 0 ,1 ,2 . . . :ten chan CCPx
_Dung set duty cua xung trong che o PWM . No ghi 10 bit gia tr vao thanh ghi CCPx . Neu value
ch la 8 bit, no dch them 2 e u 10 bit nap vao CCPx .
_Tuy o phan giai ma gia tr cua value khong phai luc nao cung at ti 1023 . Do o , value = 512
khong co ngha la duty = 50 % .
26
CHNG 8 :
cao khong sinh ma sao lu g ca ma nhay thang vao ham ngat chay luon . Vay th trat lat roi ? Ma
chay sai chang ?
_Thc ra khong phai vay . PIC 18 va dsPIC co c che lu sieu toc la FAST STACK REGISTER
( xem datasheet ky nhe ) . Khi xay ra ngat bat ky , W, S , BSR t ong lu vao thanh ghi tren , PC
counter lu vao stack . xong ngat th pop ra . Van e cho : khi ngat thap xay ra , FAST STACK
REGISTER t ong lu W ,S , BSR , PC -> stack . Trong khi thc hien ham phuc vu ngat th trng
hp W, S , BSR thay oi la co the ( v vay mi sao lu ch ) . nhng neu xay ra ngat cao vao thi
iem o ? FAST STACK REGISTER se b ghi e mat data . Do o , c che sinh ma cua CCS can
phai luon ung , ngha la : luon t sao lu rieng W ,S , BSR, va cac thanh ghi FSR na , khi thc thi
ngat thap . Con ngat cao khi chay xong se RETFIE 1 t ong phuc hoi W, S , BSR t FAST
STACK REGISTER . Co 2 trng hp : 1 la ch co ngat cao , th khong co van e g . 2 la ngat cao
ngat 1 ngat thap ang chay . Phan tch se thay rang cho du b ngat trong khi ang sao lu ,hay cha
kp sao lu , hay a sao lu vao cac bien rieng roi , cuoi cung chng trnh cung quay ra ung a ch
ban au vi cac thanh ghi W, S , BSR nh cu .
_Tuan thu nguyen tac ngat cao thc thi tc thi nen CCS ch cho 1 ngat cao duy nhat bat ky hoat
ong , nen khong sinh ma hoi vong , sao lu them g ca . neu ban muon co nhieu ngat u tien cao ,
th phai t viet ma rieng thoi ( khi co ngat cao th hoi vong cac c ngat , dung lenh ORG chiem oan
ma t 0008h tr i e viet ma x ly rieng , trong chng trnh khong c viet bat ky ham ngat nao
ke ca ngat thap ma ch viet ham bnh thng , . . . noi chung la t x ly het moi van e ngat , phc
tap lam ay ) .
#INT_RB
: bat ky thay oi nao tren chan B4 en B7
#INT_RC
: bat ky thay oi nao tren chan C4 en C7
#INT_RDA
: data nhan t RS 232 san sang
#INT_RTCC
: tran Timer 0
#INT_SSP
: co hoat ong SPI hay I 2C
#INT_TBE
: bo em chuyen RS 232 trong
#INT_TIMER0
: mot ten khac cua #INT_RTCC
#INT_TIMER1
: tran Timer 1
#INT_TIMER2
: tran Timer 2
#INT_TIMER3
: tran Timer 3
#INT_TIMER5
: tran Timer 5
#INT_OSCF
: loi OSC
#INT_PWMTB
: ngat cua PWM time base
#INT_IC3DR
: ngat oi hng ( direct ) cua IC 3
#INT_IC2QEI
: ngat cua QEI
#INT_IC1
: ngat IC 1
_Ham i kem phuc vu ngat khong can tham so v khong co tac dung .
_S dung NOCLEAR sau #int_xxx e CCS khong xoa c ngat cua ham o .
_e cho phep ngat o hoat ong phai dung lenh enable_interrupts ( int_xxxx) va enable_interrupts (
global ) .
_Khoa FAST theo sau #int_xxxx e cho ngat o la u tien cao , ch c 1 ngat thoi , ch co PIC
18 va dsPIC .
VD : #int_timer0 FAST NOCLEAR
10K
Osillator
20MHz
OUT
Reset
Button
SCO-060
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
MCLR
RA0
RA1
RA2
RA3
RA4
RA5
RE0
RE1
RE2
VDD
GND
OSC1
OSC2
RC0
RC1
RC2
RC3
RD0
RD1
Buttons
RB7
RB6
RB5
RB4
RB3
RB2
RB1
RB0
VDD
GND
RD7
RD6
RD5
RD4
RC7
RC6
RC5
RC4
RD3
RD2
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
1
1
1
1
2
2
2
2
LED
R 330
J1
4
3
2
1
to RS232
PIC16F877
//them khai bao nay neu ctrnh co dung ham delay,OSC=20 Mhz
//tao ten danh nh portb thay the a ch portB la 06h
//tao ten danh nh portd thay the a ch portD la 08h
void main ( )
{
set_tris_b ( 0xF0 ) ;
// portB = 11110000 , B4-B7 la ngo vao , B0-B3 la ngo ra
set_tris_d ( 0x00 ) ;
// portD = 00000000 , D0-D7 eu la ngo ra
enable_interrupts ( INT_RB ) ;
// cho phep ngat RB
enable_interrupts ( GLOBAL ) ;
// cho phep ngat toan cuc
// do chng trnh khong lam g khac ngoai viec ch ngat nen vong while nay trong khong
30
while( true )
{ //co the them ma x ly ay . . .
}
} //main
31