精通PIC24微控制器：从汇编到C语言的接口指南

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"《Learning.Microcontrollers.From.Assembly.Language.to.C.Using.the.PIC24》是第二版，全面涵盖了Microchip公司的PIC24家族微控制器的汇编语言、C编程和硬件接口技术。本书旨在帮助读者掌握PIC24系列微控制器，从数字逻辑基础到计算机架构，再到具体的编程和接口实现。书中通过实例介绍了如并行端口、模数转换、数模转换、串行外围总线（SPI）、集成电路总线（I2C）、异步串行通信和计时器等硬件接口话题。同时，汇编语言编程讲解基于PIC24指令集，适合无基础的读者学习。书中的接口示例包括了各种外部设备，如按钮开关、LED、串行EEPROM、液晶显示器、键盘、旋转编码器、外部数模转换器、直流电机、伺服电机、温度传感器和红外接收器。" 本书分为四个部分：第一部分是数字逻辑回顾和计算机体系结构基础，包含两章，分别对数制系统和数字逻辑进行复习，并介绍存储程序机的基本概念。第二部分是PIC24微控制器的汇编语言编程，共五章。从介绍PIC24微控制器家族开始，逐步讲解无符号8/16位算术、逻辑和条件操作，扩展精度和有符号数据操作，指针和子程序，以及高级汇编语言，包括高等数学应用。第三部分是使用C语言进行PIC24微控制器接口，共八章。涵盖系统启动、并行端口输入/输出，中断和初步的计时器使用，异步和同步串行输入/输出，数据转换，计时器的深入探讨，以及高级硬件主题。这一部分将C语言应用于实际硬件接口，帮助读者理解如何在C语言环境下实现微控制器功能。第四部分是附录，包含四章。总结了PIC24架构和指令集，电路图示例，问题解决方案参考，以及相关文献资料。通过本书的学习，读者可以系统地掌握PIC24微控制器的使用，从基本的编程概念到复杂的硬件接口设计，无论是对于初学者还是有经验的工程师，都能提供宝贵的指导和实践经验。

Chapter 13 Advanced Hardware Topics . . . . . . . . . . . . . . . . . . . . . . . . .541

Learning Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .541

Direct Memory Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .542

Using the PIC24 μC as an I2C Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .549

Bus Arbitration for the I2C Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553

Reverse String Revisited . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

The Controller Area Network (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .558

The PIC24 ECAN™ Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .562

Using an ECAN RX FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

Using an Extended Data Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

Run-Time Self-Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .572

A Sample Flash Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .580

Review Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .581

Chapter 14 Operating Systems for Embedded Systems . . . . . . . . . . . .583

Learning Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .583

Operating System Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .584

Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

Multitasking and Schedulers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

Inter-Task Coordination: Semaphores . . . . . . . . . . . . . . . . . . . . . . . . . 592

Inter-Task Coordination and Communication: Messaging . . . . . . . . . 593

OS Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594

Embedded Systems Operating System for the Microchip PIC24 μC . . . . .596

ESOS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

User Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

Your First ESOS Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

ESOS Communication Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604

ESOS Timer Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608

ESOS Semaphore Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611

ESOS Messaging Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

ESOS User Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

ESOS Child Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621

ESOS Interrupt Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

Design: Adding an ESOS Service for I2C . . . . . . . . . . . . . . . . . . . . . . . . . . .628

I2C Operations Under ESOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

I2C Transactions Under ESOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632

Application Using the ESOS I2C Service and Semaphores . . . . . . . . . 636

Application Using the ESOS I2C Service and Messaging . . . . . . . . . . . 638

Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .641

Review Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .642

Table of Contents xv

Appendix A: A compact summary of the PIC24E/dsPIC33E instruction set.

Appendix B: A hobbyist-level introduction to basic circuits. It covers the basic components

(resistors, capacitors, and diodes) used in this book’s schematics.

Appendix C: Solutions to odd-numbered end-of-chapter problems.

Appendix D: References.

This Book’s Development

At Mississippi State University, majors in Electrical Engineering (EE), Computer Engineering (CPE),

Computer Science (CS), and Software Engineering (SE) take our first course in microprocessors.

Previous to Spring 2002, this course emphasized X86 assembly language programming with the lab

experience being 100 percent assembly language based and containing no hardware component.

We found that students entering our senior design course, which has the expectation of something

“real” being built, were unprepared for doing prototyping activities or for incorporating a micro-

controller component into their designs. We did offer a course in microcontrollers, but it was an

elective senior-level course and many students had not taken that course previous to senior design.

In Spring 2002, the Computer Engineering Steering Committee reexamined our goals for the first

course in microprocessors, and the approach for this book’s predecessor (From Assembly Language

to C Using the PIC18Fxx2) was developed. From Fall 2003 through Spring 2004, we used the

Microchip PIC16 family, and then used the PIC18 family from Summer 2004 through Spring 2008.

In late Fall 2007, the authors reexamined the course once again and decided to switch to the PIC24

family because of its rich instruction set architecture, 16-bit organization, and advanced on-chip

peripherals. In 2013, significant advances in the field prompted the second edition, which focuses

on the redesigned and improved PIC24E/dsPIC33E family of PIC24/dsPIC33 microprocessors.

Using This Book in an Academic Environment

This book is intended for use as a first course in microcontrollers/microprocessors (μC/μP) using

the PIC24 family, with prerequisites of basic digital design and exposure to either C or C++ pro-

gramming. The book begins with simple microprocessor architecture concepts, moves to assembly

language programming in a C language context, and then covers fundamental hardware interfac-

ing topics such as parallel IO, asynchronous serial IO, synchronous serial I/O (I

C and SPI), interrupt-

driven IO, timers, analog-to-digital conversion, and digital-to-analog conversion. Programming

topics are discussed using both assembly language and C, while hardware interfacing examples use

C to keep code complexity low and improve clarity. The assembly language programming chapters

emphasize the linkage between C language constructs and their assembly language equivalent so

that students clearly understand the impact of C coding choices in terms of execution time and

memory requirements. A textbook with an assembly-only focus creates students who are experts only

in assembly language programming, with no understanding of high-level language programming

Introductionxviii

techniques and limited hardware exposure. Most embedded software is written in C for portability

and complexity reasons, which argues favorably for reduced emphasis on assembly language and

increased emphasis on C. Embedded system hardware complexity is steadily increasing, which

means a first course in μC/μP that reduces assembly language coverage (but does not eliminate it)

in favor of hands-on experience with fundamental interfacing allows students to begin at a higher

level in an advanced course in embedded systems, the approach chosen for this textbook.

Hardware interface topics included in this book cover the fundamentals (parallel IO, serial IO,

interrupts, timers, analog-to-digital conversion, digital-to-analog conversion) using devices that do

not require extensive circuits knowledge because of the lack of a circuits course prerequisite. The

microcontroller interfacing topics presented in this textbook are sufficient for providing a skill set

that is extremely useful to a student in a senior design capstone course or in an advanced embed-

ded system course.

Thus, a principal motivation for this book is that microcontroller knowledge has become essential

for successful completion of senior capstone design courses. These capstone courses are receiving

increased emphasis under ABET 2000 guidelines. This places increased pressure on Computer

Engineering and Electrical Engineering programs to include significant exposure to embedded sys-

tems topics as early in the curriculum as possible. A second motivation for this book is that the

ACM/IEEE Computer Engineering model curriculum recommends 17 hours of embedded system

topics as part of the Computer Engineering curriculum core, which is easily satisfied by a course

containing the topics in this book. A third motivating factor is the increased pressure on colleges and

universities to reduce hours in engineering curriculums; this book shows how a single course can

replace separate courses in assembly language programming and basic microprocessor interfacing.

The course sequence used at Mississippi State University that this book fits into is as follows:

Basic digital design (Boolean algebra and combinational and sequential logic), which is

required by EE, CPE, CS, and SE majors.

Introduction to microprocessors (this book), which is required for EE, CPE, CS, and SE

majors.

Computer architecture as represented by the topic coverage of the Hennessy and Patterson

textbook, Computer Organization & Design: The Hardware/Software Interface. This includes

reinforcement of the assembly language programming taught in the microprocessor course

via a general-purpose instruction set architecture (e.g., the MIPS), along with coverage of

traditional high-performance computer architecture topics (pipelined CPU design, cache

strategies, and parallel bus I/O). Required for CPE, CS, and SE majors.

Advanced embedded systems covering topics such as real-time operating systems, Internet

appliances, and advanced interfaces such as USB, CAN, Ethernet, and FireWire. Required

for CPE majors.

Using This Book in an Academic Environment xix

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