EE4360 Embedded Systems Design and

Programming

LECTURE 4

EMBEDDED CONTROLLERS –PART II

By
Prof. Buddhika Jayasekara
 Model Design: A System?

❑ A system is a mapping of a set of inputs into a set of outputs

❑ Inputs: Digital data from hardware devices and other software
systems (connected to sensors, cameras, etc. through ADCs )
❑ Outputs: External hardware devices like actuators, displays, etc
(through DACs)

System

2
 System of Systems

Sub System2
Sub System1

System

Sub System N Sub System3

3
 Embedded Systems

➢ A system, which is controlled by a controller embedded

within it
Can be defined as:
❑ Special-purpose computer system designed to perform one or a
few dedicated functions, sometimes with real-time constraints
❑ Microprocessor based system that is embedded as a subsystem
in a larger system
❑ Combination of computer hardware and software, either fixed
in capability or programmable, that is specifically designed for
a particular application device

4
 Embedded System Design- Step by Step

8/21/2024 8:28 AM 5
 Embedded System Design- Step by Step

8/21/2024 8:28 AM 6
 Embedded System Design- Step by Step

8/21/2024 8:28 AM 7
 Embedded System Design- Step by Step

8/21/2024 8:28 AM 8
 Discussion – Design and Embedded System

❑ Task : Design of an suitcase

that automatically follow
you
❑ How do you design and
develop

8/21/2024 8:28 AM 9
 Embedded Systems: Components

❑ Processor: Microprocessor/ Microcontroller / DSP

❑ Memory (On-chip and Off chip)

❑ Sensors

❑ Actuators

❑ Converters (A-D and D-A)

❑ Communication path with the interacting environment

8/21/2024 8:28:41 AM 10
 Microcontrollers

❑ Contains

▪ Simple processor
▪ Program memory
▪ Data memory
▪ Analog/Digital input/outputs
▪ Interfacing peripherals
▪ Counters and timers
▪ Needs to be powered, and
needs a clock signal

8/21/2024 8:28:41 AM 11
 PIC 12 Series- 12F508/509

❑ Simple PIC microcontroller

❑ 8/14-Pin, 8-Bit Flash Microcontrollers
❑ Small in size

Main Components
▪ Core (containing the CPU)
▪ Program memory
▪ Data memory (or RAM)
▪ Data paths
▪ Peripherals

8/21/2024 8:28:41 AM Ref: http://www.microchip.com 12

8/21/2024 8:28:41 AM 13
Program
memory
Address bus –
Program memory Data Memory

Data Bus-
program Memory
Address bus –
Data memory

Data Bus-
Data Memory

8/21/2024 8:28:41 AM 14
Program
memory
Address bus –
Program memory Data Memory

Data Bus-
program Memory Address extracted from
Address bus –
Instruction word Data memory

Data from
instruction word
Data Bus-
Instruction Data Memory

8/21/2024 8:28:41 AM 15
8/21/2024 8:28:41 AM 16
Programming Microcontrollers

17
18
 Assembly Language Programming

❑ Assembly program consists of set of assembly instructions

❑ Assembly instruction consists of

▪ Brackets indicate optional fields

▪ [Label]- refer to a line by code name
▪ [mnemonic]- Assembly language instruction
▪ [operands]- Mnemonic (instruction) and operands fields
performs the real work of the program
▪ [comments]- assembler ignores the comments

8/21/2024 8:28:42 AM 19
 Assembly Language Programming for PIC

❑ CPU use many registers to store data temporarily

❑ To Program in Assembly, need to understand
▪ Registers and architecture
▪ Role of the registers in processing data

❑ E.g. WREG register-working register

▪ Used in all arithmetic and logic instructions
▪ Results of any CPU operation is held in WREG
▪ Majority of registers are 8 bit
❑ E.g.
D7 D6 D5 D4 D3 D2 D1 D0

❑ Note: consider PIC12, PIC16, PIC18 series in assembly

programming

8/21/2024 8:28:42 AM 20
Block diagram of PIC16F84A

8/21/2024 8:28:42 AM 21
 WREG Register in PIC

❑ MOVLW Instruction
▪ Moves 8 bit data into WREG register
▪ MOVLW K ;move literal value K into WREG
▪ MOVLW 25H ;move value 25H into WREG
▪ Letter L(literal) comes first and then the letter w for WREG, destination

❑ ADDLW Instruction
▪ ADDLW K ;add literal value K into WREG
▪ ADDLW 25H ;add value 25H into WREG
▪ Add literal value K to WREG register and put the result back in WREG
▪ E.g. MOVLW 25H ; Load 25H into WREG
ADDLW 34H : add 34H to WREG
▪ Result is 59H

8/21/2024 8:28:42 AM 22
 WREG Register in PIC

❑ Moving a value larger than 255 (FF in hex) will truncate the
upper bit-warning
▪ E.g. MOVLW 7F2H ; illegal 7F2H > 8bits (FFH)

❑ E.g. MOVLW 12H ; Move 12H into WREG

ADDLW 16H : add 16H to WREG
ADDLW 11H : add 16H to WREG
ADDLW 40H : add 16H to WREG

Result: WREG = 79H

8/21/2024 8:28:42 AM 23
 File Register (RAM/Data Memory)

❑ Special Functional Registers (SFRs)

▪ Dedicated to special functions such as ALU status, timer, I/O ports

❑ General Purpose Registers (GPRs)

▪ Group of RAM locations
▪ Size depends on the chip
❑ E.g.

❑ Additional EEPROM is available in some PICs

8/21/2024 8:28:42 AM 24
 File Register (RAM/Data Memory)

8/21/2024 8:28:42 AM 25
 MOVWF Instruction

❑ Move the value of WREG (W) to destination in File register

(F)
❑ Location of File register may be in SFR or GPR
❑ E.g.

▪ PORTB, PORTC, PORTD are SFR in File register

▪ Can be connected to I/O ports in PIC

8/21/2024 8:28:42 AM 26
 MOVWF Instruction

❑ E.g. Copy 99H to 0-4 locations in GPR region (data memory)

Result

8/21/2024 8:28:42 AM 27
 ADDWF Instruction

❑ Add WREG and file register

▪ If D = 0, result is in WREG
▪ If D = 1, result is in file register

❑ E.g. put 22H to GP RAM locations 5,6,7

8/21/2024 8:28:42 AM 28
 ADDWF Instruction

❑ E.g.

8/21/2024 8:28:42 AM 29
 ADDWF Instruction

❑ In D, ‘w’ of ‘f’ can be used instead of ‘0’ and ‘1’

❑ E.g.

8/21/2024 8:28:42 AM 30
In PIC 18

8/21/2024 8:28:42 AM 31
 ALU instruction with FileReg and Wreg

8/21/2024 8:28:42 AM 32
 File Register Instructions using WREG or FileReg
as Destination

8/21/2024 8:28:42 AM 33
 COMF Instruction

❑ Complement the contents in FileReg and place in WREG or

FileReg
❑ E.g. Simple program to toggle the SFR of PORTB
continuously

8/21/2024 8:28:42 AM 34
 MOVFF Instruction

❑ Copies data from one location of FileReg to another

❑ E.g.

8/21/2024 8:28:42 AM 35
 Status Register

❑ Flag register to indicate the status of arithmetic operations

❑ E.g. PIC 18- 8 bit register (flag register)

8/21/2024 8:28:42 AM 36
 Status Register

❑ E.g.

❑ Only some instructions affect the flag

8/21/2024 8:28:42 AM 37
 PIC Data Formats

❑ Can be hexadecimal, binary, decimal, etc.

❑ Hex

❑ Binary

❑ Decimal

8/21/2024 8:28:42 AM 38
 Assembling and inking a PIC Program

1. Write the program in a text editor

2. Assembler:
▪ Converts the assembly code (*.asm) to machine code
▪ Create object file and error file
3. Linker:
▪ Assembler require this step and convert one or more object files
▪ Create a HEX file, MAP file, etc.
▪ Then hex file can be downloaded to microcontroller (PIC)

❑ MPLAB IDE can be used for PIC

8/21/2024 8:28:42 AM 39
8/21/2024 8:28:42 AM 40
 Assignment Q1

❑ Explain the operation of following code with detailed register

values

8/21/2024 8:28:42 AM 41
 Assignment Q1

❑ Explain the operation of following code with detailed register

values

66 H = 01100110

8/21/2024 8:28:42 AM 42
 Microcontrollers

Common
Types

PIC AVR 8051 ARM

8/21/2024 8:28:42 AM 43
 AVR Microcontrollers

❑ Atmel AVR 8- and 32-bit Microcontrollers

Go to Microchip web
https://www.microchip.com/en-us/products/microcontrollers-and-microprocessors

8/21/2024 8:28:42 AM 44
 AVR Microcontrollers

❑ AVR EA Family

Go to web https://www.microchip.com/en-us/products/microcontrollers-and-microprocessors/8-
bit-mcus/avr-mcus/avr-ea
8/21/2024 8:28:42 AM 45
 AVR – E.g.

https://www.microchip.com/en-us/product/atmega164a#document-table

8/21/2024 8:28:42 AM 46
 ATMEL: ATmega164 Architecture

❑ ATmega164 has external connections for

▪ power supplies(VCC, GND),
▪ external time base input pins to drive its clocks (XTAL1 and XTAL2),
▪ Processor reset (active low RESET),
▪ four 8-bit ports (PA0- PA7, PB0-PB7, PC0-PC7, and PD0-PD7),

8/21/2024 8:28:42 AM 47
8/21/2024 8:28:42 AM 48
 ATMEL: ATmega164 Architecture- Ports

❑ Four, 8-bit general purpose, digital input/output (I/O) ports

designated PORTA, PORTB, PORTC, and PORTD
❑ Registers
▪ Data Register PORTx —- used to write output data to the port.
▪ Data Direction Register DDRx —- used to set a specific port pin to
either output (1) or input (0)
▪ Input Pin Address PINx —- used to read input data from the port

8/21/2024 8:28:42 AM 49
 ATMEL: ATmega164 Architecture- Ports

❑ Configured at the beginning of a program, e.g. C code

8/21/2024 8:28:42 AM 50
 Assignment Q2
Develop the hardware connection and draft code indicating control and data registers

8/21/2024 8:28 AM

51
 Register Based Configuration

❑ Basic I/O ❑ Control and status

❑ ADC registers

❑ PWM ❑ Data Registers

❑ Serial Communication

❑ Special Functions

8/21/2024 8:28 AM 52
 E.g. ATmega164

❑ Refer Datasheet

8/21/2024 8:28 AM 53
 Assignment Q3

❑ Critically Evaluate the use of data and control registers in

ADC section of ATmega164

8/21/2024 8:28 AM 54
 Microcontrollers

Common
Types

PIC AVR 8051 ARM

8/21/2024 8:28:42 AM 55
 Arm® 32-bit Microcontrollers

❑ STMicroelectronics
▪ https://www.st.com/content/st_com/en/arm-32-bit-
microcontrollers.html#:~:text=The%20Arm%C2%AE%20Cortex%C2
%AE,%2Dcore%20microprocessors%20(MPUs).
❑ TI
▪ https://www.ti.com/microcontrollers-mcus-
processors/microcontrollers/arm-based-microcontrollers/overview.html

❑ Microchip 32 bit
▪ https://www.microchip.com/en-us/products/microcontrollers-and-
microprocessors/32-bit-mcus

8/21/2024 8:28:41 AM 56
 Arm® 32-bit Microcontrollers

https://www.st.com/content/st_com/en/arm-32-bit-
microcontrollers.html#:~:text=The%20Arm%C2%AE%20Cortex%C2%AE,%2Dcore%
20microprocessors%20(MPUs)
8/21/2024 8:36 AM 57
 Arm® 32-bit Microcontrollers

8/21/2024 8:37 AM 58
 Arm® 32-bit Microcontrollers

https://www.st.com/en/microcontrollers-microprocessors/stm32h562.html
8/21/2024 8:39 AM 59
 Arm® 32-bit Microcontrollers – with Cortex M
processors
❑ The Arm® Cortex®-M group of processor cores is a series of
cores optimized for power efficiency and deterministic
operation
❑ Ref: https://www.st.com/content/st_com/en/arm-32-bit-
microcontrollers.html#:~:text=The%20Arm%C2%AE%20Cortex
%C2%AE,%2Dcore%20microprocessors%20(MPUs).

8/21/2024 8:28:42 AM 60
 ARM STM32 Microcontrollers

❑ The STM32 family of 32-bit microcontrollers based on the

Arm® Cortex®-M processor
❑ https://www.st.com/en/microcontrollers-
microprocessors/stm32-32-bit-arm-cortex-mcus.html

❑ E.g. STM32F103

8/21/2024 8:28:42 AM 61
 ARM Cotex based Controllers
❑ The ARM Cortex-M is a group of 32-bit
RISC ARM processor cores licensed by
ARM Limited
❑ Optimized for low-cost and energy-
efficient integrated circuits,
▪ embedded in tens of billions of consumer
devices
❑ Most often the main component of
microcontroller chips, sometimes they are
embedded inside other types of chips too

https://en.wikipedia.org/wiki/ARM_Cortex-M

8/21/2024 8:56 AM 62
 ARM Cortex-M3

❑ The Cortex-M3 processor is specifically developed for high-

performance, low-cost platforms for a broad range of devices
including microcontrollers, automotive body systems,
industrial control systems and wireless networking and
sensors
❑ https://developer.arm.com/Processors/Cortex-M3
❑ https://developer.arm.com/Processors#aq=%40navigationhier
archiescategories%3D%3D%22Processor%20products%22%20
AND%20%40navigationhierarchiescontenttype%3D%3D%22Pr
oduct%20Information%22&numberOfResults=48

8/21/2024 8:28:42 AM 63
 Assignment Q4

❑ Compare the facilities of ARM Cotex based MCUs with

typical AVR and PIC

8/21/2024 9:21 AM 64
 Systems Control

Real-time
Real Time Embedded
Embedded
Systems Systems
Scenario

65
 Real-time Systems-Introduction

Nuclear Power Plants Real-time Systems

(Data need to be processed in Control of Aircrafts/Jets
timely rate)

Surgery- robot controls Airline reservations

66
 Real-time Systems -Definitions

❑ Response Time: Time between the presentation of a set of

inputs to a system and the realization of the required behavior

❑ Real-time system:
System that must satisfy explicit (bounded) response-time
constraints or risk severe consequences, including failure.
OR
Real-time system is one whose logical correctness is based
on both the correctness of the outputs and their timeliness.

67
 Real-time Systems-Reactive or Embedded

❑ Reactive systems are those in which scheduling is driven by

ongoing interaction with their environment,
▪ E.g. a fire-control system reacts to buttons pressed by a pilot

❑ Embedded systems are those that are found in a system that is

itself a computer
▪ E.g., a modern automobile contains many embedded computers for fuel
injection, airbag deployment, braking, climate control,
▪ household items such as televisions, stereos, washing machines, even
toys
❑ Systems with Reactive and Embedded
▪ Aircraft, spacecraft, and industrial machines

68
 Real-Time Embedded Systems

❑ Embedded system is a microcomputer system embedded in a

larger system and designed for one or two dedicated services
▪ embedded as part of a complete device that often has hardware and
mechanical parts
▪ E.g. include the controllers built inside our home electrical appliances.
▪ Most embedded systems have real-time computing constraints
❑ Compared with general-purpose computing systems that
have multiple functionalities, embedded systems are often
dedicated to specific tasks
▪ E.g., Embedded airbag control system is only responsible for detecting
collision and inflating the airbag when necessary,
▪ Embedded controller in an air conditioner is only responsible for
monitoring and regulating the temperature of a room.

69
 Systems Control

Real-time
Real Time Embedded
Embedded
Systems Systems
Scenario

70
 Embedded Systems: non-real-time

❑ Embedded systems can be non-real-time

▪ it is correctly designed and developed if it delivers the desired functions
upon receiving external stimuli or internal triggers,
▪ with a satisfied degree of QoS (Quality of Service)
▪ E.g. are TV remote controls and calculators
❑ Non-real-time embedded systems may have time constraints
▪ if it takes more than 5 seconds for your TV remote control to send a
control signal to your TV and then the embedded device inside the TV
takes another 5 seconds to change the channel for you, you will
certainly complain
▪ consumers expect a TV to respond to remote control event within 1
second.
▪ this kind of constraints is only a measure of system performance.

71
 Embedded Systems: real-time

❑ Required to compute and deliver correct results within a

specified period of time
❑ A job of a real-time system has a deadline, being it hard or
soft.
▪ If a hard deadline is missed, then the result is useless, even if it is
correct.
❑ Consider the airbag control system
▪ Airbags are generally designed to inflate in the cases of frontal impacts
in automobiles
▪ Because vehicles change speed so quickly in a crash, airbags must
inflate rapidly to reduce the risk of the occupant hitting the vehicle’s
interior.
▪ from the onset of the crash, the entire deployment and inflation process
is about 0.04 seconds, while the limit is 0.1 seconds.

72
 Real-time Systems-When?

❑ E.g.-Monthly payroll calculation?-Response time may be days or

weeks
❑ Soft real-time system is one in which performance is degraded
but not destroyed by failure to meet response-time constraints
❑ Firm real-time system is one in which a few missed deadlines
will not lead to total failure, but missing more than a few may
lead to complete and catastrophic system failure
❑ Hard real-time system is one in which failure to meet a single
deadline may lead to complete and catastrophic system failure

73
Real-time Systems-Soft/Firm/Hard

74
Real-Time System Design

75
 Real-Time System Design

❑ The selection of hardware and software, and evaluation of the

trade-off needed for a cost-effective solution, including dealing
with distributed computing systems
❑ Understanding the programming language(s) and the real-time
implications resulting from their translation into machine code
❑ Maximizing of system fault tolerance and reliability through
careful design
❑ Design and administration of tests, and the selection of test and
development equipment
❑ Taking advantage of open systems technology and interoperability,
e.g., LINUX
❑ Measuring and predicting response time and reducing it

76
Real-Time Systems-Applications

77
 Real-time Systems: Examples

❑ Inertial Measurement system for an Aircraft

▪ Receive accelerometer reading (x, y, z) at 10 ms rate
▪ Software will determine accelerations in each direction roll, pitch and yaw
▪ Receive temperature at 1s rate
▪ TASK: Calculate actual velocity based on accelerometer, orientation, and
other factors (40 ms rate)
▪ OUTPUTS: Display true acceleration, velocity, and position

78
 Real-time Systems: Examples

❑ Monitoring system for nuclear power plant (HARD RTS)

▪ E.g. Handling three events signaled by interrupts
▪ First event: any of several security points - must respond within 1 s
▪ Second event: nuclear core has reached over temperature - must be
dealt within 1 ms
▪ Third event: operators display must update in 30 times per second
▪ To avoid complete meltdown
▪ Examples of system failure
• Fukushima Japan
• Due to Earth quake +Tsunami

79
 Real-time Systems: Examples

❑ Traffic lights at a four way junction

▪ Controls traffic for auto and foot
▪ Input from sensors such as push buttons, cameras
▪ Need to operate in synchronized fashion and to react for
asynchronous events
▪ Failure to operate may cause accidents

80
 Real-time Systems: Examples

❑ Production lines
▪ Computer systems control all aspects
▪ Wide range of synchronous / asynchronous events
▪ Displays at operators places, etc.

Back

Back

81
 Thank you

QUESTIONS

8/21/2024 8:28 AM 82