CMP3010
EMBEDDED SYSTEMS
PROGRAMMING
LECTURE 3 ATMEGA328 ARCHITECTURE
Arduino Uno
•It is a microcontroller based on the ATmega328
•14 digital input/output (6 for PWM)
•6 Analog inputs
•CPU (8 bits) clock: 16 MHz
•Programs size can be max 30Kbytes
•SRAM 2KB, EEPROM 1KB
•UART, SPI and I2C protocol are enabled
Atmega 328 Pinout
AVR Architecture
•Clocks and Power
• Beyond scope of this course
•CPU
• Harvard architecture
•Flash – program memory
• 32K
•SRAM – data memory
• 2K
•EEPROM
• For long-term data
• On I/O data bus
Memory
•Flash (32K) (15-bit addresses)
• Program memory – read only
• Non-volatile
• Allocate data to Flash using PROGMEM keyword
• see documentation
•SRAM (2K)
• Temporary values, stack, etc.
• Volatile
• Limited space!
•EEPROM (1K)
• Long-term data
• see documentation on EEPROM library
AVR CPU
•Instruction Fetch and Decode
•ALU Instructions
•I/O and special functions
AVR Memory Organization
•Program Memory (ROM) •Data Memory
Data Memory
•Rx space
• 32 8-bit GP registers
•I/O Memory
• Special Function Registers (SFRs)
•Part of SRAM memory space
I/O Memory (SFR) Overview
See. Datasheet of Atmega328
Port Special Functions
•Lots of special uses for pins
• Clock connections
• Timer connections
• e.g. comparator output for PWM
• Interrupts
• Analog references
• Serial bus I/Os
• USART
• PCI
I/O Ports
•3 8-bit Ports (B, C, D)
•Each port controlled by 3 8-bit registers
• Each bit controls one I/O pin
• DDRx – Direction register
• Defines whether a pin is an input (0) or and output (1)
• PINx – Pin input value
• Reading this “register” returns value of pin
• PORTx – Pin output value
• Writing this register sets value of pin
Arduino Digital and Analog I/O Pins
•Digital pins:
• Pins 0 – 7: PORT D [0:7]
• Pins 8 – 13: PORT B [0:5]
• Pins 14 – 19: PORT C [0:5] (Arduino analog pins 0 – 5)
• digital pins 0 and 1 are RX and TX for serial communication
• digital pin 13 connected to the base board LED
•Digital Pin I/O Functions
• pinMode(pin, mode)
• Sets pin to INPUT or OUTPUT mode
• Writes 1 bit in the DDRx register
• digitalWrite(pin, value)
• Sets pin value to LOW or HIGH (0 or 1)
• Writes 1 bit in the PORTx register
• int value = digitalRead(pin)
• Reads back pin value (0 or 1)
• Read 1 bit in the PINx register
Reading and Writing Pins Directly
•Only one pin can be changed using the Arduino I/O functions
• Setting multiple pins takes time and instructions
•To change multiple pins simultaneously, directly read/write the pin registers
• DDR{B/C/D}
• PORT{B/C/D}
• PIN{B/C/D}
•e.g. to set all digital pins 0 – 7 to a value:
• PORTD = B01100101;
DDRx = 0
Pin Circuitry
PORTx
PINx
DDRx = 0
Pin Input
off
PORTx
PINx
Synchronization Timing
•Note: Takes a clock cycle for data output to be reflected on the input
DDRx = 1
Pin Output
on
PORTx
PINx
Arduino C/C++ Programs
•Arduino calls these “sketches”
• Basically C/C++ with libraries
•Program structure
• Header: declarations, includes, etc.
• setup()
• loop()
•setup()
• executes once when program starts
•loop() as superloop
• continuously re-executed when the end is reached
The Arduino C/C++ Main Program
int main(void)
{
setup();
for (;;)
loop();
return 0;
}
Blink Program
int ledPin = 13; // LED connected to digital pin 13
// The setup() method runs once, when the sketch starts
void setup() {
// initialize the digital pin as an output:
pinMode(ledPin, OUTPUT);
// the loop() method runs over and over again,
// as long as the Arduino has power
void loop()
{
digitalWrite(ledPin, HIGH); // set the LED on
delay(1000); // wait for a second
digitalWrite(ledPin, LOW); // set the LED off
delay(1000); // wait for a second
