Micro Board Rev 5

PIC MicroBoard Manual
5th Edition
Sept 2002
How to use this manual.

In an effort to enable students with the appropriate skill set needed to make this course as rewarding as
possible, I have divided this manual into four parts. There is a lot of material here but you may not to need
use all of it for your project.
PARTS
I.
The MicroBoard: Design and Assembly - This part introduces the features of the MicroBoard
and gives some background information on its design. A MicroBoard assembly guide is included
here.
II.
Getting Started: Programming the PIC - The second part provides you with a brief review of
assembly language programming and the PIC instruction set. Here you will find a template that
you can use as a starting point for writing your own assembly language program. This part
concludes with instructions on assembling your assembly language program and downloading
object code to the PIC microcontroller.
III.
The MicroBoard In Action - This part contains the information you need to make your
MicroBoard actually do something. It begins by introducing the operation of the MicroBoard in
Hosted mode and will outline some of the methods you can use to test drive your board. It then
steps through the features of the PIC microcontroller, one-by-one, complete with instructions,
diagrams, sample code and working examples. Equipped with the information provided here, you
will be able to unleash the full capabilities of the MicroBoard.
IV.
Appendices - These are referenced by the three previous parts. Feel free to detach the appendices
from the bulk of this manual; you will likely refer to them often.
This manual is intended to be a supplement to the PIC16F87X data sheet, which can be downloaded from
the EE401 website (www.ee.ualberta.ca/~ee401). The PIC16F87X data sheet includes absolutely
everything you will need to know about the PIC16F87X microcontroller and this user manual refers to it
often. Another helpful reference is the PICmicro Midrange Reference Manual, which can also be found on
the EE401 website. I would sincerely recommend taking the time to read this entire manual from
beginning to end and to familiarize yourself with the data sheet; the things you will learn along the way will
be helpful when it comes to designing your own project. Be aware, however, that completion of this
manual will merely lay the groundwork for more interesting, albeit more useful, applications of the
MicroBoard.
Keep in mind that the MicroBoard is just the central nervous system of your project. You are responsible
for the design of the extraneous circuits that your project will utilize (sensors, motors, etc). It would be
prudent to make your initial circuit designs on an SK10 board, then later transfer your design to a computer
using EAGLE to have it milled into a clean PCB. In general, rats nests of wires dont hold up very well
and, in accordance with Murphys Law, will inevitably let you down when you need them the most (during
demonstrations of course!).
Contributors
This document was created by contributions from: Dave Bull, Ben Bathgate, Mike Cumming, Patrick
Pilarski, Paul Bartosek and Loren Wyard-Scott.
Table of Contents
Part I The MicroBoard: Design and Assembly
1.0 Introduction to the MicroBoard
1.1 MicroBoard Specifications
1.2 Functional Description
1.2.1 DC Power Supplies
1.2.2 RS-232 Serial Interface
2.0 MicroBoard Assembly
Part II Getting Started: Programming the PIC
3.0 Programming the PIC Microcontroller
3.1 Assembly Language Programming
3.2 Memory Structure
3.3 Instruction Set
3.3.1 Mathematical Operations
3.3.2 Flow Control
3.4 Subroutines
3.5 Interrupts
3.6 Putting It All Together
4.0 Assembling Your PIC Program
4.1 Writing Your Program to the PIC
Part III The MicroBoard In Action
5.0 Debug87x
5.1 Hardware Flow Control
6.0 Peripheral Features
6.1 I/O Ports
6.1.1 Port A (and Port E)
6.1.2 Port B
6.1.3 Port C
6.1.4 Port D
6.1.5 Using Digital I/O Ports Example
6.1.6 Using I/O with Debug87x.hex
6.2 Parallel Slave Port (PSP) Module PIC16F877 only
6.2.1 Using the Parallel Slave Port Example
6.3 Timer Modules
6.4 Master Synchronous Serial Port (MSSP)
6.4.1 Serial Peripheral Interface (SPI)
6.4.2 Adding Additional Outputs Using Shift Registers and SPI
6.4.3 Using SPI with Debug87x.hex
6.4.4 Using the LCD with Debug87x.hex
6.4.5 Writing a C Program To Control The LCD
6.5 Universal Synchronous Asynchronous Receiver Transmitter (USART)
6.5.1 Using the USART with a Personal Computer
6.5.2 Writing a C Program To Send Text To A Terminal Window
6.6 Pulse Width Modulator (PWM)
6.6.1 Using the Pulse Width Modulator with Debug87x.hex
6.6.2 Digital-to-Analog Converter Using PWM

6.7 Analog-to-Digital Converter (A/D) Module
6.7.1 Using A/D with Debug87x.hex
Part IV Appendices
Appendix A - PIC16F873 MicroBoard Assembly Package
A1 Parts Kit List
A2 Assembly Checklist
A3 Schematic Diagram (Eagle)
A4 Board Layout Diagram (Eagle)
A5 Power Checklist
Appendix B - PIC16F877 MicroBoard Assembly Package
B1 Parts Kit List
B2 Assembly Checklist
B3 Schematic Diagram (Eagle)
B4 Board Layout Diagram (Eagle)
B5 Power Checklist
Part I
The MicroBoard:
Design and Assembly
1.0 Introduction to the MicroBoard

The MicroBoard is a compact, low power controller board that is based on the Micro-Chip Technologies
PIC16F87X series microcontroller. The PIC is the heart and soul of the MicroBoard, containing the central
processing unit for the board.
The MicroBoard will be common to all projects with the addition of student designed and built circuits.
The PIC MicroBoard used in the EE401 project course comes in two flavors:
1.
2.
The first generation MicroBoard based on the PIC16F873 microcontroller.

The new and improved MicroBoard based on the PIC16F877 microcontroller.
Both MicroBoards come loaded with the following features:

Support for Built-in Motor Drivers: each capable of driving a bipolar stepper motor, two bidirectional DC motors, or four unidirectional DC motors.
* The PIC16F873 MicroBoard is equipped with 3 built-in motor drivers whereas the PIC16F877
MicroBoard includes only one.
Communication Interfaces: RS-232 communication with a PC; SPI and I2C busses for
communicating with other chips; and standard 5V CMOS digital I/O for anything else.
* The PIC16F877 MicroBoard supports Parallel Slave Port Communication.
Extra Features: Three timer modules, a multi-channel analog-to-digital converter, and two pulsewidth-modulated outputs.
Additional Features of the PIC16F877 MicroBoard: Easy interface with an LCD, built-in
programming module that allows you to program other PIC microcontrollers using your
MicroBoard.
Two modes of operation are available for the MicroBoard.
Hosted mode: The MicroBoard runs a program that allows control of most of its functions
through a serial link to a desktop PC (see section 5.0).
Autonomous mode: More powerful than hosted mode, autonomous mode uses assembly code
you have written and then burned to the PIC (see section 3.0).
Complete with a relatively powerful processor and large I/O capability, the MicroBoard is an impressive
control system. The range of projects is virtually limitless: you can control robots, perform wireless
communication, carry out digital signal processing, or even connect your MicroBoard to the Internet. The
only limit is your imagination.
1.1 MicroBoard Specifications

This table lists the electrical characteristics of the MicroBoard, exceeding maximum values will very
quickly damage your board.
Total Number of Pins on PIC (DIP package)
PIC16F873
PIC16F877
28
40
Range of Input Voltage to Barrel Connector
6-18 Vdc
PIC Supply Voltage
5 Vdc
Clock Speed
4 MHz (Upgradeable to 20 MHz)*
Digital I/O Pins
22
33
Analog to Digital Channels
5 (multiplexed)
8 (multiplexed)
Pulse Width Modulated Pins
On-board Programming Module
No
Yes
Parallel Slave Port Module
No
Yes
10 Pin LCD Interface
No
Yes
Power Consumption with all ICs
140 mA @ 7.2 Vdc
Power Consumption with no L293s
20 mA @ 7.2 Vdc
Max current drawn from +12Vdc connector
500 mA
Max current drawn from +5Vdc connector
500 mA
Max current drawn from -12Vdc connector
50 mA
Table 1.1 MicroBoard Specifications
* See the course instructor for details in regards to upgrading the clock speed.
1.2 Functional Description

The MicroBoard is designed in a modular manner as shown in the block diagram below. Refer to the
MicroBoard schematic and board layout diagrams (found in appendix) as necessary to improve your
understanding.
Figure 1.1 Block Diagram of the MicroBoard Design
1.2.1 DC Power Supplies
Figure 1.2 DC Power Supplies Schematic
DC power is supplied to the board through a 2.1mm coaxial barrel connector with center positive polarity.
Normally this power comes from a 9Vdc 500mA wall adaptor plugged into the barrel connector. However,
a 12Vdc 1A wall adaptor or suitably sized battery array can also be used. In the lab you will find
connectors that allow you to connect your MicroBoard to a DC power supply.
Diodes D1 and D2 provide some reverse polarity protection and power supply transient isolation.
Capacitors C1 and C2 provide power supply bulk charge storage while C3-C6 provide additional power
supply transient isolation for their respective supplies.
IC1 (7805) regulates the bulk supply to the +5Vdc needed for the PIC micro-controller and logic devices
(logic side of the L293 and MAX232). IC2 (7812) and its components regulate the bulk supply for the
voltage inverter, IC3, and are only installed if IC3 is to be used. IC3, the ICL7662P, and capacitors C9C14 provide a negative voltage for analog circuits such as dual supply op-amp circuits.
You will notice that the polarized capacitors have a non-polarized capacitor in parallel with them. This is
not always necessary in designs but is here. The reasoning is that real capacitors are not ideal capacitors:
larger capacitors tend to have greater amounts of intrinsic inductance associated with them due to their
construction. Their greater inductance gives them poorer high frequency performance. Smaller capacitors
tend to have better high frequency performance. Therefore, multiple real capacitors are used to
approximate the required ideal capacitor performance.
1.2.2 RS-232 Serial Interface
Figure 1.3 RS-232 Serial Interface Schematic
The RS-232 circuitry consists of a DB9 female connector, the MAX232 and related circuitry. The DB9
connector is configured for an IBM PC-style 9-pin RS-232 connection. The MAX232 converts the RS-232
(sometimes called the HIN232) +/-12V signals to logic levels for the micro-controller. The resistors R31
and R32 (330) limit line slew rates and provide some short circuit protection. The resistors R23, R24 (not
shown here, see Appendix A Microboard Schematic Diagrams), R33 and R34 provide output contention
protection (contention is created if the Digital I/O pin of PIC incorrectly configured as an output and is
connected to the output of the MAX232). C24C25 are used by the on-board charge-pump (note that the
supply is +5V and yet the IC can deliver RS-232 level signals).
2.0 MicroBoard Assembly

In the appendix you will find an assembly package for each of the MicroBoards. Appendix A includes the
assembly package for the PIC16F873 MicroBoard and Appendix B includes the assembly package for the
PIC16F877 MicroBoard.
The first thing you should do when you get your MicroBoard kit is check to see if you have all of the
components necessary to assemble it. A parts kit list is included in the assembly package. If you are
missing parts go harass the TA.
To assemble your MicroBoard you will need the following items:
Soldering Iron.
63/37 electronic grade rosin core solder.
Flux pen.
Needle nose pliers for forming leads.
Side cutters for cutting leads.
If you are not familiar with soldering and circuit board assembly you may want to read Appendix C
Soldering Tips before continuing. If you have questions about MicroBoard assembly dont hesitate to ask
your TA. Thats what they are there for. You can waste a lot of time and effort simply finding and
repairing a bad solder joint. Do it right the first time and your life will be more pleasant.
Remember these axioms whenever working with electronics.
Keep it clean.
It is easier to keep electronics clean than to clean electronics. Contamination may cause
problems: a simple fingerprint will etch a copper trace and foul a solder connection; a
fingerprint or leftover flux residue can act as an undesirable resistor.
Keep it cool.
Use the correct soldering techniques and temperature. High temperatures will destroy
components or shorten life times.
Minimize stress.
Miniaturization means less mechanically robust component packaging. Allow for thermal
expansion, mechanical flexing, and component movement. Do not pull leaded components
too tightly to the board.
The MicroBoard schematics and board layout diagrams are included in the assembly packages. Use these
to locate the placement of the components on the MicroBoard. In your assembly package you will also find
an assembly checklist. It is recommended that you solder the components in that order, checking them off
as you go.
WARNING! Do not solder ICs directly into the board!
Solder the IC sockets.
When the assembly of your MicroBoard is complete you should test the power supply circuitry before
installing any ICs. Your assembly package includes a power checklist that guides you through this process.
Now that your MicroBoard is assembled and working properly you can do one of two things:
1.
2.
Learn how to program it (see section 3.0)

Program the PIC with debug87x.hex and explore the features of the PIC16F87X microcontroller
(see section 5.0).
Part II
Getting Started:
Programming The PIC
3.0 Programming the PIC Microcontroller

The main focus of this manual is assembly language programming of the PIC microcontroller. You will
have access to a C compiler in the EE401 lab, however, the discussion on programming the PIC in C is
limited and you will likely need to seek other resources.
3.1 Assembly Language Programming

Here we will review some of the basics of assembly language programming. First it is important to
understand the memory structure of the PIC16F87X microcontroller. For detailed information on memory
structure see section 2.0 in the PIC16F87X data sheet.
3.2 Memory Structure

There are three memory blocks:
1.
2.
3.
Program memory
Data memory
EEPROM data memory
1.
Program Memory
The program memory is, as you may have guessed, the section where your program instructions
are stored. The size of the program memory for the PIC16F873 is 4Kx14 which means that it can
hold 4x1024=4096 14-bit instructions. The program memory for the PIC16F877 is 8Kx14.
The program memory is divided into 2K blocks called pages. Thus, the PIC16F873 has 2 pages of
program memory and the PIC16F877 has 4 pages. In order for commands on a certain program
memory page to be executed the corresponding page must be selected. To switch between
program memory pages use the pagesel directive.
A recommended way to use the pagesel directive is to first define the following values at the
beginning of your assembly language program as follows (also see section 3.6):
page0
page1
page2
page3
EQU
EQU
EQU
EQU
0x0000
0x0800
0x1000
0x1800
;
;
;
;
start
start
start
start
address
address
address
address
of
of
of
of
page0
page1
page2
page3
Then to select a page, say page 2 for example, use the following in the body of your main
program:
pagesel
2.
page2
; selects program memory page 2
Data Memory
The data memory is divided up into 4 banks (bank 0-bank 3) that contain both Special Function
Registers and General Function Registers. See Figures 2-3 and 2-4 in the PIC16F87X data sheet
for register file maps. The special function registers are named and have a predefined function.
They are used for controlling the operation of the microcontroller. Some of the more important
Special Function Registers are outlined in section 2.2.2 of the PIC16F87X data sheet. General
function registers are used for data storage. The PIC16F873 has 192 8-bit general function
registers. The PIC16F877 has an additional 176 8-bit general function registers (368 in total).
To access a register in a certain data memory bank you must ensure that the appropriate bank is
selected. The status of the bank select bits, RP0 and RP1 (located in the STATUS register),
determine which data memory bank is active. See section 2.2 in the PIC16F87X data sheet for a
table of bank select bits. For example, to access the general purpose register at address 0xA0 you
must select bank 1 (i.e. RP1:RP0 =01).
The banksel directive can also be used to select the desired data memory bank, similar to the way
in which the pagesel command is used to select the desired program memory page. First define
the following values:
BANK0
BANK1
BANK2
BANK3
EQU
EQU
EQU
EQU
0x0000
0x0080
0x0100
0x0180
; Data Memory start positions
Then to select the bank, say bank1 for example, use the following in the body of your main
program:
banksel
3.
BANK1
; select data memory bank 1
EEPROM Memory
The EEPROM memory is nonvolatile meaning its contents are not erased when you turn off the
power to the PIC. This is useful for storing information such as the state of your system before it
is powered-down since this information can then be retrieved when the system is powered-up
again. Data stored in the Data memory section (RAM) is erased when the power is removed from
the PIC. For instructions on using EEPROM see section 4.0 in the PIC16F87X data sheet.
3.3 Instruction Set

The PIC16F87X uses a RISC-based architecture with only 35 instructions. See section 13.1 in the
PIC16F87X data sheet for instruction descriptions. Some of the more common instructions will be
reviewed here.
An instruction is either byte-oriented or bit-oriented. The following bits of a register.
bcf
bsf
STATUS , RP0
STATUS , RP1
; Clear the RP0 bit in the STATUS register.

; Set the RP1 bit in the STATUS register.
; Anything after a semicolon is a comment.
Remember that the RP0 and RP1 bits are used to select the data memory bank. The instructions above will
select bank 1 (i.e. RB0:RB1=01).
The following is an example of a byte-oriented instruction.
clrf
STATUS
; Clear the entire STATUS register.
Many instructions use the W register, which you can think of as a temporary storage place. To store a
value in one of the general purpose registers, say at address 0x20 (in bank 0), you could use the following
commands:
bcf
STATUS , RP0
bcf
STATUS , RP1
movlw
0x35
movwf
0x20
; select bank 0
; writes 0x35 to the W register
; moves the value from the W register to the
; general purpose register at address 0x20
To make your code more readable you can define labels to replace numerical values. These labels are
defined at the beginning of your program using the EQU (equate) assembler directive.
length
lreg
EQU
EQU
0x35
0x20
; Equate the label length with value 0x35.

; Equate the label lreg with value 0x20.
With these defined the above instructions could now be replaced with:
movlw
length
; Load the W register with the value 0x35.
movwf
lreg
; Move the value from the W register to the

; general purpose register at address 0x20.
An additional benefit to using labels is that if you decide to change any one of the values in your source
code, you need to only change the value of the label rather than having to search through your entire source
code for every occurrence of that value.
3.3.1 Mathematical Operations

Mathematical operations can be difficult since the instruction set includes commands only for addition and
subtraction and there are no hardware floating-point operations. If you require this functionality in your
code, there are some software emulation libraries that can be found on the MicroChip website
(www.microchip.com), but they are not always easy to find. Try a search for math emulation. When
programming in C, many of the advanced math functions are available to you.
addwf
lreg , W
; Add the contents of W and lreg and stores

; the result in W.
Here the W register is the destination for the result of the addition, as specified by the second argument to
the instruction. Alternatively, you can specify lreg to be the destination register by replacing W with F
(file).
addwf
lreg , F
; lreg is now the destination register
3.3.2 Flow Control

You can control the flow of your program using conditional or unconditional branches. Conditional
branches (i.e. btfss, btfsc, incfsz, decfsz) test the value of the operand and branch accordingly. An
example of an unconditional branch is the goto instruction.
A useful technique to use with flow control is labeling. You can label locations in your program and
branch to that location using the label name. For example:
bcf
bcf
STATUS , RP0
STATUS , RP1
; Select bank 0.
decfsz
lreg , F
goto
goto
:
:
LOOP
ZERO
;
;
;
;
;
LOOP
Decrement the value in the lreg
register and skips the next
instruction if the result is 0.
Branch to LOOP if result not 0.
branch to ZERO if result is 0.
ZERO
{instructions}
:
3.4 Subroutines
Using subroutines is a way to make your program modular. It also shortens the length of your main
program making it easier to follow.
You can think of subroutines as mini programs that are called from the main program. Subroutines are
usually defined after the main program. Consider the code below:
main
{main program instructions}
:
call incW
; call incW subroutine
:
goto
main
; return to beginning of main program
; subroutines are declared here

incW
incf
incf
incf
W
W
W
return
; increment the value in the W register 3 times
; return to main program
Here a subroutine called incW is defined. The purpose of the subroutine is to increment the value in the W
register 3 times. In the main program you call the subroutine using the call instruction with the subroutine
name as the operand. When the call command is executed the main program jumps to the incW subroutine,
executes the commands defined there, then returns to the main program when the return instruction is
executed.
Unlike many other microcontrollers, the PIC contains no user-accessible stack. Adding the fact that the
programmers model contains only one working register, subroutines passing more than a single byte need
to make use of the file register memory. Additionally, the stack in the PIC16F87X devices is only 8
locations deep. Recursive calling is thereby discouraged. Interrupts, described next, also require stack
locations and reduce the possible call-depth.
3.5 Interrupts
Interrupts are an alternative to polling for events and can make processing time more efficient, since your
program doesnt need to wait for selected events to occur by polling. Every time a selected event triggers
an interrupt, the PIC stops execution of the program and jumps to the interrupt service routine. Once
finished, the PIC resumes normal execution of your program, where it left off.
Each of the built-in modules has the ability to cause an interrupt for one reason or another. The ADC, for
example, can cause an interrupt when it has completed a conversion while the UART can produce an
interrupt when its transmit buffer is empty or when its receive buffer is full.
When an interrupt occurs, the PIC jumps to the program memory location 0x0004, the interrupt vector. The
program space available in this location is very limited so its recommended that you place your interrupt
service routine (ISR) elsewhere in program memory and just put a GOTO command in the interrupt vector
space (see the example program in section 3.6). Instructions on writing Interrupt Service Routines (ISRs)
are provided in section 12.10 of the PIC16F87X data sheet.
Compared with other microcontrollers, the PIC16F87X family has a few notable differences with respect to
interrupt processing.
1. Only one interrupt vector is used. Your ISR must determine (through status bits) which subsystem
generated the interrupts.
2. Context of the CPU is not saved, except for the return Program Counter. Your ISR must be written to
compensate for this.
3. Each interrupt uses one internal stack location until processing is complete. Only 8 stack locations are
available and subroutine calls also use them. Due to this limitation, use of nested interrupts is
discouraged. However, nesting is disabled by default.
3.6 Putting It All Together

Now you are almost ready to write our own PIC assembly program. You can use any text editor to write
your source code as long as you save it with a .asm extension. It is recommended that you use MPLAB, a
free program provided by Microchip, to write and compile your source code. You can download a copy of
MPLAB from the Microchip website (www.microchip.com) or from the EE401 website. There is a copy of
MPLAB installed on each of the computers in the EE 401 lab.
Below is a very simple program that is used to show the necessary components for an assembly program.
Also, MPLAB contains source code templates (f873temp.asm and f877temp.asm), which can be found in
mplab/template/code/. You can use these as a starting point.
;************************************************************
;
*
;
This is a program header. Here you give a brief
*
;
description of what your program does and any other
*
;
important information about it. You should include
*
;
the name of the program, your name, the date you
*
;
wrote the program and/or the last date it was
*
;
modified. Include a course name if applicable.
*
;
*
;
name: example.asm
(program name)
*
;
date: 9 July 2002
(date created)
*
;
created by: David R. Bull
(thats me)
*
;
course: EE401
*
;
*
;
This program doesnt do anything (since there are no *
;
instructions in the main program). It is just used
*
;
to illustrate the necessary components of an assembly *
;
language program for the PIC microcontroller.
*
;
*
;************************************************************
list
p=16f873
#include <p16f873.inc>
;
;
;
;
;
;
;
;
;
;
;
;
;
this tells MPLAB which PIC

microcontroller you are using.
use p=16f877 when necessary.
this file defines the names and
locations of all the Special
Function Registers (i.e. W register)
use p16f877.inc when necessary.
The following commands set the PICs configuration bits. For now
you dont really need to understand how the configurations bits
affect anything, but if you really want to see section 12.1 in the
PIC16F87X data sheet.
You can also set the configuration bits manually when you are
downloading your program to the PIC (see section 4.1)
__CONFIG _CP_OFF & _WDT_OFF & _BODEN_OFF & _PWRTE_OFF & _XT_OSC &
_WRT_ENABLE_ON & _LVP_OFF & _CPD_OFF
; Label Definitions
TEMP1
TEMP2
EQU
EQU
0x20
0x21
BANK0
BANK1
BANK2
BANK3
EQU
EQU
EQU
EQU
0x0000
0x0080
0x0100
0x0180
page0
page1
page2
page3
EQU
EQU
EQU
EQU
0x0000
0x0800
0x1000
0x1800
; Data Memory start positions

; for use with banksel directive
; see section 3.2
; program memory start positions
; for use with pagesel directive
; see section 3.2
; This is where your program code begins

ORG
0x00
clrf
goto
PCLATH
main
;
;
;
;
;
;
;
;
;
when the PIC is powered up or after a reset

the instruction at address 0x00 is the first
to be executed. The ORG instruction tells
the device programming the PIC to start
writing the following instructions at the
address indicated (in this case at address
0x00).
selects page0 of the program memory
jumps to beginning of your program
; Only include this next section if you are using interrupts.

ORG
0x04
goto
service
;
;
;
;
when an interrupt occurs the program jumps

to the instruction at address 0x04
jumps to the subroutine service, which will
handle the interrupt.
; this is the start of your main program

main
{the instructions for your main program go here.}
; this is the interrupt service routine
service
{the instructions for your interrupt service routine go here.}
END
; this is the end of the program.
The source code for some example programs are available on the EE401 website. It may help to take a
quick look at the code to become more familiar with the contents of an assembly language program.
4.0 Assembling Your PIC Program

To actually make your MicroBoard do anything, it needs to be running a program. Since youve
probably not written anything yet, a multi-talented program has been supplied for you. Well, actually two
programs have been written (debug873.asm and debug877.asm); one for the PIC16F873 MicroBoard and
the other for the PIC16F877 MicroBoard. They are essentially the same program but are tailored to suit the
slight differences between the two MicroBoards. Thus, from now on, I will simply refer to these two
programs as debug87x.asm. You can find a copy of these programs on the EE401 website. In this section
you will use MPLAB to compile debug87x.asm (you can also use MPASM but instructions will not be
given here). In the next section you will burn the programs object code, debug87x.hex, to your
microboard.
To assemble the program, follow these steps:

1.
2.
3.
Open MPLAB
Open your source code file (debug87x.asm)
In the Project menu select Build Node
And thats it. A new window will open that shows the results of the process. If your source code is error
free the message Build Completed Successfully. will appear in this window. Assembling generates a
*.hex file (in this case it will be debug87x.hex) and places it in the same directory as your source code file.
This is the file that you will download to the PIC microcontroller. You can also download the *.hex files
from the EE401 website.
If there are errors in your code then this window will contain the appropriate error messages.
4.1 Writing Your Program to the PIC

The PIC has a flash type program memory, which can be written, erased and rewritten. This is very useful
for debugging (you can test out the capabilities and connections of your circuitry before letting your project
run amuck). Typically the flash memory can go through several thousand of these cycles so you dont need
to worry about it breaking down on you. You will need to use the computer in the EE401 lab with a
PICSTART Plus Development Programmer connected to it (see figure 4.1 below).
Now we will download debug87x.hex onto the PIC.
1.
2.
3.
Open MPLAB
Ensure that the PICSTART Plus is connected to the
computer and that the power cord is plugged in.
Put your PIC chip in the uppermost position in the
socket on the PICSTART Plus, with the notch on
the PIC pointing to the top.
Figure 4.1
*** WARNING ***

Do NOT put your chip in the PICSTART
upside-down or you will permanently
damage the programmer or destroy your
PIC!
4.
5.
6.
7.
Choose PICSTART Plus>Enable Programmer.

The window shown in Figure 4.2 will open if the
programmer is attached correctly. If the box does
not appear, check the connections and try again.
Select the PIC device that you are using (either
PIC16F873 or PIC16F877).
Choose File>Import>Import To Memory and
select your program file (debug87x.hex).
Click on the Configuration Bits button. A new
window should open (shown below); select the
options shown in Figure 4.3.
Figure 4.2
Figure 4.3
8.
Finally, click the Program button to burn your program to the PIC. You will receive a message
notifying you if the program was transferred to the PIC successfully. Take the PIC out of the
programmer, plug it back into your MicroBoard, and youre ready for business.
Part III
The MicroBoard In Action
5.0 Debug87x
When the MicroBoard is running debug87x.hex you can control many of its functions through a serial link
to a personal computer. HyperTerminal (or other terminal program) is used to communicate with the
MicroBoard in a command-prompt fashion. Using and configuring HyperTerminal is very easy, just follow
these steps:
1.
2.
3.
4.
5.
6.
7.
8.
9.
Open HyperTerminal (in the start menu)

Enter a name in the box and click OK (any name will do).
Select either Direct to COM1 or Direct to COM2 in the Connect Using menu then click OK. Most
PCs will have 2 serial ports (COM1 and COM2) and either one can be used. Make sure that if you
select COM1 you connect the serial cable to the COM1 serial connection on the back of the PC
and vise versa.
Select 9600 in the Bits Per Second menu. This is the Baud Rate.
Select 8 in the Data Bits menu.
Select None in the Parity menu.
Select 1 in the Stop Bits menu.
Select None in the Flow Control menu (select Hardware if you are using hardware flow control).
Click OK.
You should now see a window before you that is blank and has a blinking cursor in the upper left corner.
Connect your MicroBoard to the PC using a computer serial cable. Then connect the MicroBoard to the
power supply.
If your MicroBoard is working properly a help menu will appear in this window. This help menu provides
you with a list and brief description of the commands used to control the different MicroBoard modules.
These commands are also discussed in the following sections of this user manual. To initiate a command
simply type it in at the prompt and press ENTER. Debug87x ignores uppercase commands, letters and
hexadecimal numbers.
With hardware flow control enabled you can send a string of commands to the PIC all at once (like a script)
and the PIC will execute the commands in the order they are received (for an example, see section 6.1.6).
If you are using the PIC16F873 the default state for hardware flow control is disabled. See the following
section (section 5.1) for instructions on enabling hardware flow control. If you are using the PIC16F877
hardware flow control is already enabled.
To create a script, simply save to a text file a set of commands in the order you would like them carried out.
Start a HyperTerminal session and select Transfer > Send Text File Choose your saved script. The
commands will be sent to the PIC and executed one by one.
In the future, you may want to use the subroutines in debug87x as part of your own program. If you
modify the contents of debug87x or write your own program from scratch, youll need to compile and burn
the new program to your PIC using the procedure discussed in sections 4.0 and 4.1.
5.1 Hardware Flow Control

Hardware flow control is a method to control the flow of data from one device to another using hardware
generated handshaking signals. On your MicroBoard pins RB1 and RB2 are used to implement the
handshaking signals. RB2 is an output and is connected to the CTS (Clear to Send) pin of the DB-9
connector. When ready to receive data from the PC this pin is set low (active low). To stop the PC from
sending data this pin is set high again. RB1 is an input and is connected to the RTS (Request to Send) pin
of the DB-9 connector. The PC will signal it is ready to receive data by setting this pin low (active low).
If you are using the PIC16F873 MicroBoard follow these steps to enable hardware flow control. Hardware
flow control is already enabled on the PIC16F877 MicroBoard.
1.
2.
3.
Add two 470 resistors at positions R33 and R34 (beside the MAX232 chip).
Solder a wire from the end of R34 (end closest to DB9 connector) to pin RB1 on the PIC.
Solder a wire from the end of R33 (end closest to DB9 connector) to pin RB2 on the PIC.
6.0 Peripheral Features

To make your programming less stressful, the wonderful folks over at Microchip have built several
modules into the microcontroller you will be using. These modules automate certain processes, such as
timing, serial communication, pulse width modulation and analog to digital conversion. Each of these
modules have their own registers to control their operation; once they are set your code will continue to
execute in parallel with the operation of the modules. These peripheral features are discussed in detail in
the PIC16F87X data sheet and the PICmicro Mid-Range Reference Manual, which can both be downloaded
from the EE401 website. The information in the following sections is meant to supplement the information
in these documents. In these sections you will find:
1.
2.
3.
4.
Instructions on writing your own assembly language code to control the modules.
Instructions on using debug87x.hex to control the modules.
Writing C programs to control the modules.
Examples to illustrate what you can do with them.
6.1 I/O Ports

The PIC16F873 has 22 I/O pins, divided into 3 ports (Port A-Port C), which can be configured in various
ways to communicate with many different peripheral devices. The PIC16F877 has an additional 11 pins
(33 in total) that are divided into 2 ports (Port D and Port E). Port A has 6 pins, Port B-Port D each have 8
pins and Port E has 3 pins.
Many of these pins are multiplexed with more than one function. You can control the function of each pin
(or group of pins) by writing the proper value to the appropriate Special Function Register.
The simplest function for these pins is general purpose digital I/O. You can configure any pin as a digital
output and set its value high (+5V) or low (0V), or configure it as a digital input and read its present value.
Each port has an associated PORTx register (bi-directional port) and a TRISx register (data direction
register). Setting a bit in the TRISx register makes the corresponding pin an input, clearing the bit makes it
an output. For example, setting bit 4 in the TRISB register makes pin RB4 an input. Setting a bit in the
PORTx register sets the corresponding pin high (as long as it is configured as an output). Clearing the bit
set the pin low. For example, setting bit 3 in the PORTC register sets the output pin RC3 high. Data is
input by reading from the PORTx register.
The following code is an example of how to implement this in your program.
bsf
bcf
STATUS , RP0
STATUS , RP1
; select bank1
movlw
movwf
B11110000
TRISB
; configure RB7:RB4 as inputs

; configure RB3:RB0 as outputs
bcf
STATUS , RP0
; select bank0
movf
PORTB , W
; reads inputs and stores in W register
movlw
movwf
B1010
PORTB
; sets outputs RB3 and RB1 high,

; RB2 and RB0 low
Each port, and the alternate function(s) of its pins, is discussed in its own section below. Refer to section
3.0 of the PIC16F87X data sheet for additional information on I/O ports.
6.1.1 Port A (and Port E)

In this section ports A and E are discussed together since they both are multiplexed with analog inputs
(with the exception of pin RA4, which is multiplexed with the Timer0 module). Port E is available on the
PIC16F877 only. The function of each pin in these two ports is selected using the A/D port configuration
control bits (the lower four bits of the ADCON1 register). Refer to Section 11.0 (Register 11-2) in the
PIC16F87X data sheet for a table of the A/D port configuration control bits.
For example, to configure all the pins in ports A and E for general purpose digital I/O you must write
B011x (B0110 or B0111) to the lower four bits of the ADCON1 register.
(PIC16F873 only) Pin RA4 has a weak internal pull-up. If you will be using this pin for digital I/O you
must connect an external pull-up resistor.
The analog inputs are used with the Analog-to-Digital Converter (A/D) module. See section 6.7 for
instructions on using the A/D module. The ADON bit (ADCON0<0>) controls whether or not the A/D
module is operating. If you are not using the A/D module then it is recommended that you turn it off by
clearing the ADON bit.
(PIC16F877 only) The three pins in port E also function as control inputs for the Parallel Slave Port (PSP)
module. To disable the PSP module clear the PSPMODE bit in the TRISE register. See section 6.2 for
more information on the PSP.
Data is read from/written to ports A and E using the PORTA and PORTE port registers, respectively. The
data direction registers are TRISA and TRISE.
Table 6.1: Summary of Registers Associated with PORTA and PORTE.
Name
Address
PORTA
0x05
TRISA
0x85
Bit 7
Bit 6
Bit 5
Bit 4
RA5
RA4
PORTE
0x05
TRISE
0x85
IBF
OBF
IBOV
PSPMODE
ADCON0
0x1F
ADCS1
ADCS0
CHS2
CHS1
ADCON1
0x9F
ADFM
Bit 3
Bit 2
RA3
RA2
PORTA data direction bits.
Bit 1
Bit 0
RA1
RA0
RE2
RE1
RE0
PORTE data direction bits.
CHS0
GO/DONE
PCFG3
PCFG2
ADON
PCFG1
PCFG0
The following code shows how ports A and E can be initialized for digital I/O:
bcf
bcf
STATUS , RP0
STATUS , RP1
; select bank0
clrf
clrf
PORTA
PORTE
; clear ports A and E to initialize
bsf
bcf
STATUS , RP0
STATUS , RP1
; select bank1
movlw
movwf
b0110
ADCON1
; configure ports A and E for

; digital I/O
movlw
movwf
movlw
movwf
b111000
TRISA
b001
TRISE
; set RA5:RA3 and RE0 as inputs

; RA2:RA0 and RE2:RE1 as outputs
6.1.2 Port B
Three of the pins in Port B are multiplexed with the low voltage programming option. The low voltage
programming option allows PIC microcontrollers to program by one another. Refer to the Special Features
Section in the PIC16F87X data sheet for instructions on using this feature.
Pins RB7:RB4 have an interrupt on change feature, which is discussed in section 12.10 of the PIC16F87X
data sheet.
Pins RB1 and RB2 are reserved for hardware flow control (see section 5.1) and can only be used for digital
I/O if hardware flow control is not being used.
Data is read from/written to port B using the PORTB port register. The data direction register is TRISB.
Table 6.2: Summary of Registers Associated with PORTB.
Name
Address
Bit 7
Bit 6
Bit 5
Bit 4
PORTB
0x06
RB7
RB6
RB5
TRISB
0x86
OPTION_REG
0x81
RBPU
INTEDG
T0CS
Bit 3
RB4
RB3
PORTB data direction bits.
T0SE
PSA
Bit 2
Bit 1
Bit 0
RB2
RB1
RB0
PS2
PS1
PS0
6.1.3 Port C
Port C is shared by many of the peripheral functions, such as the timer modules, the pulse-width-modulator,
the analog-to-digital converter and the serial communication modules. Refer to the corresponding
peripheral section for the appropriate PORTC settings.
Data is read from/written to port C using the PORTC port register. The data direction register is TRISC.
Table 6.3: Summary of Registers Associated with PORTC.
Name
Address
Bit 7
Bit 6
Bit 5
PORTC
0x07
RC7
RC6
RC5
TRISC
0x87
Bit 4
Bit 3
RC4
RC3
PORTC data direction bits.
Bit 2
Bit 1
Bit 0
RC2
RC1
RC0
6.1.4 Port D (PIC16F877 Only)

Port D is multiplexed with the Parallel Slave Port (PSP) module. To disable the PSP module the
PSPMODE bit (TRISE<4>) must be cleared.
Data is read from/written to port D using the PORTD port register. The data direction register is TRISD.
Table 6.4: Summary of Registers Associated with PORTB.
Name
Address
Bit 7
Bit 6
Bit 5
PORTD
0x08
RD7
RD6
RD5
TRISD
0x88
TRISE
0x85
IBF
OBF
IBOV
Bit 4
Bit 3
RD4
RD3
PORTD data direction bits.
PSPMODE
Bit 2
Bit 1
Bit 0
RD2
RD1
RD0
6.1.5 Using Digital I/O Ports Example

The source code to accompany this example (flashall.asm and flash_c.c) can be found in the PIC Code
section of the EE401 website.
When you first put your MicroBoard together it is a good idea to test if the I/O ports are working properly.
You can use the program flashall.asm as one test method. This program configures all ports as digital I/O
outputs and continually toggles the outputs. The delay between switching from high to low (or low to high)
is ~1.5 seconds. To visually see that everything is working properly you can connect an LED to each of the
output pins. Make sure that there is a current limiting resistor in series with the LED. You should draw no
more than 25 mA from any of the I/O pins. If you are using the PIC16F873 MicroBoard, the RA4 pin will
not switch unless an external pull-up resistor is connected (see section 6.1.1).
6.1.6 Using I/O with debug87x.hex

Setting the data direction is accomplished using the input and output commands.
>> output b4
>> input c2
- configures pin RB4 as an output

- configures pin RC2 as an input
To set the value of an output pin use the set and clear commands.
>> set b4
>> clear b4
- sets output pin RB4 high (+5V)

- sets output pin RB4 low (0V)
To read the value on one of the inputs use the read command.
>> read c2
Pin=1
The value is displayed in the terminal window as shown above. Here it is assumed that the input pin RC2
is high.
If you connect an LED to one of the I/O pins, say pin RC0, you can turn it on and off using the above
commands. Remember to include a current limiting resistor.
>> output c0
>> set c0
>> clear c0
- configures pin RC0 as an output

- turns on LED
- turns off LED
If you have hardware flow control enabled (see section 5.1) you can use a script to perform the same task.
Simply save the following commands to a text file (do not include the comments on the right).
output c0
set c0
delay 96
clear c0
delay 96
configures pin RC0 as an output

blank line is ignored
turn on LED
wait 1.5 sec. (see below)
turn off LED
wait
set c0
delay 96
clear c0
delay 96
turn on LED again

wait
turn off LED again
wait
set c0
etc.
- repeat ad nauseum
In HyperTerminal select the Transfer>Send Text File command and choose your text file. The LED
should be blinking now and will stop when the commands in your script are finished executing.
The delay command accepts a two digit hexadecimal number (hh) and will wait (hh x 10)ms before
executing the next command. It is not terribly useful when you are connected to the MicroBoard through
HyperTerminal since you, as the operator, can wait as long as you like between sending commands. The
delay command is, as illustrated above, useful when sending a script of commands to the MicroBoard.
>> delay 10
>> delay 8f
>> delay ff
- waits 10 x 10ms = 160ms

- waits 8F x 10ms = 1430ms
- waits FF x 10ms = 2550ms
6.2 Parallel Slave Port (PSP) PIC16F877 Only

The Parallel Save Port (PSP) allows you to transmit or receive data in byte size chunks, rather than bit by
bit as in serial communications. The PSP runs in slave mode, meaning the peripheral device it is connected
to controls when data is read from or written to it. This is accomplished using the RD, WR and CS control
inputs.
Setting the PSPMODE bit (TRISE<4>) enables the PSP module. The pins RE0/RD, RE1/WR and RE2/CS
function as control inputs for this module thus the data direction bits TRISE<2:0> must be set. These pins
must also be configured for digital I/O by appropriately setting the A/D port configuration control bits
(ADCON1<3:0>). Refer to Section 11.0 (Register 11-2) in the PIC16F87X data sheet for a table of the
A/D port configuration control bits.
For example, writing 0010 to ADCON1<3:0> configures the port E pins for digital I/O. Note: In this
configuration the port A pins are configured as analog inputs.
Port D functions as the data lines and is actually two separate registers; one that holds received data and
one that holds data to be transmitted. Thus the data direction bits in the TRISD register are ignored and
need not be initialized.
To signal a write operation to the PSP both the WR and CS lines are set low. When either the WR or CS
lines returns high the Input Buffer Full (IBF) flag bit (TRISE<7>) is set signaling that the write is
complete. It is cleared when PORTD is read. The interrupt flag bit PSPIF (PIR1<7>) is also set when the
write is complete. If a second write to the PSP is attempted before PORTD is read the Input Buffer
Overflow (IBOV) status flag (TRISE<5>) is set. PSPIF and IBOV must be cleared manually.
To signal a read operation from the PSP both the RD and CS lines are set low. The Output Buffer Full
(OBF) flag bit (TRISE<6>) is cleared immediately after the read operation is initiated. It is set when data
is written to PORTD. The interrupt flag bit PSPIF (PIR1<7>) is set when either the RD or CS lines returns
high indicating that the read is complete.
To disable interrupts the interrupt enable bit PSPIE (PIE1<7>) must be cleared.
Table 6.5: Summary of Registers Associated with the PSP module.
Name
Address
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
PORTD
0x08
RD7
RD6
RD5
RD4
RD3
RD2
RD1
RD0
PORTE
0x05
RE2
RE1
RE0
TRISE
0x85
IBF
OBF
IBOV
PIR1
0x0C
PSPIF
ADIF
RCIF
PSPMODE
TXIF
SSPIF
CCP1IF
TMR2IF
TMR1IF
PIE1
0x8C
PSPIE
ADIE
RCIE
TXIE
SSPIE
CCP1IE
TMR2IE
TMR1IE
ADCON1
0x9F
ADFM
PCFG3
PCFG2
PCFG1
PCFG0
For additional information on using the PSP module see section 3.6 in the PIC16F87X data sheet.
6.2.1 Using The Parallel Slave Port Example

The source code to accompany this example (testpsp.asm) can be found in the PIC Code section of the
EE401 website.
In this example data will be input via the PSP and will be displayed on selected output pins. The mapping
from inputs to outputs is as follows:
INPUTS
OUTPUTS
RD7
RA5
RD6
RA4
RD5
RA3
RD4
RA2
RD3
RA1
RD2
RA0
RD1
RB0
RD0
RB3
Connecting a LED to each of these outputs will allow you to visually see the value on each of the pins. The
peripheral device controlling the PSP will be you. Consider the following schematic:
PIC16F877
+5V
RD7
RD6
RD5
RD4
RD3
RD2
RD1
RD0
30
29
28
27
22
21
20
19
+5V
RD
WR
S7
CS
10
S6
S5
S4
S3
S2
S1
S0
Pushbutton
Figure 6.1: Schematic Parallel Slave Port Example

Using this setup you can manually toggle the value of each of the inputs. For example, when switch 1 (S1)
is open pin RD1 will be held high. Closing switch 1 sets pin RD1 low. You can also manually control the
WR control input. Normally the WR input is held high but when the pushbutton is depressed it will be set
low. The CS input is permanently held low (i.e. the PSP is always activated) and since the RD control
input is not used it is held high.
The procedure is very simple.
1.
2.
Set the desired input value using the switches.

Press the pushbutton.
and Voila! You should now see the input value displayed on the outputs.
Lets analyze the source code. The program begins by initializing the PSP module (initializepsp
subroutine). The next subroutine (initializeoutputs) configures the pins RA5-RA0, RB3 and RB0 as
digital I/O outputs and initializes their values to zero.
Data is input in the readpsp subroutine. When the IBF flag bit is set (pushbutton is pressed and released)
the data on the PORTD input pins is read in and stored in a memory location labeled DATAREG. The
displaydata subroutine simply transfers the data from the DATAREG memory location to the appropriate
output pins.
6.3 Timer Modules

Built into the PIC are three timer modules. Timer 0 is a general-purpose 8-bit timer/counter. Timer 1 is a
16-bit timer/counter that can be used with the capture/compare/PWM module. Finally, timer 2 is an 8-bit
timer that is used to control the PWM module. Refer to sections 5-7 in the PIC16F87X data sheet for
detailed instructions on using the respective timer modules.
6.4 Master Synchronous Serial Port (MSSP)

The Master Synchronous Serial Port (MSSP) module is used for serial communication with peripheral
devices. The MSSP module can operate in one of two modes:
1.
2.
Serial Peripheral Interface (SPI)

Inter-Integrated Circuit (I2C)
Only the SPI module will be discussed in this manual. For instructions on using the I2C module refer to
section 9.2 of the PIC16F87X data sheet.
6.4.1 Serial Peripheral Interface (SPI)

Instructions on using the SPI module will not be provided in this manual since clear and detailed
instructions are provided in section 9.1 of the PIC16F87X data sheet. Instead a detailed example using the
SPI module will be presented here.
6.4.2 Adding Additional Outputs Using Shift Registers and SPI

The source code to accompany this example (addouts.asm) can be found in the PIC Code section of the
EE401 website. Before continuing familiarize yourself with the operation of the 74HC595 shift register.
Using the SPI and some external shift registers you can increase the number of digital outputs. Consider
the following schematic:
PIC16F877
RA3 5
SCK 18
11
SDO 24
12
14
16,10
8,13
9
74HC595
15
+5V
+5V
+5V
11
12
14
74HC595
15
11
8,13
16,10
12
14
+5V
8,13
16,10
74HC595
15
11
12
14
8,13
16,10
74HC595
15
Figure 6.2: Schematic Adding Additional Outputs Using Shift Registers

The output pin of the SPI (SDO) is fed into a bank of 74HC595 shift registers connected in series. The
outputs of the shift registers will be used as additional output pins. In this case we have 8x4=32 additional
output pins. Data is shifted into the bank of shift registers one byte at a time. A byte of data output from
the SPI will be shifted into shift register A. The contents of shift register A will be shifted into shift
register B, and so on. Every time you want to change the value on the output pins all four shift registers
must be updated, thus four bytes of data are shifted in from the SPI. You are limited in the number of
additional outputs only by the time delay in updating the shift registers. It is possible, say, to connect 500
shift registers in series to create an additional 500x8=4000 outputs. However, to change the value on just
one pin you would have to update all 500 shift registers.
The SPI will be configured in master mode and it will control the clock (SCK). With Vcc=+5V on the
74HC595 the maximum shift register clock frequency is ~25MHz. Assuming the PIC clock frequency
(Fosc) is 4MHz, we can safely set the frequency of SCK to Fosc/4=1MHz. For this setting the
configuration bits SSPM3:SSPM0 (SSPCON<3:0>) must all be cleared.
The waveforms in Figure 9-2 in the PIC16F87X data sheet will be used to decide the configuration of the
CKP (SSPCON<4>) and CKE (SSPSTAT<6>) bits. The shift register clock on the 74HC595 (pin11) is
rising edge triggered so the data on the SDO pin must be stable on the rising edge of SCK. There are two
configurations that satisfy this requirement:
1.
2.
CKP = 1 , CKE = 0
CKP = 0 , CKE = 1
The only difference between these two configurations is that in the first configuration the clock idle value is
high and in the second configuration the clock idle value is low. The clock idle value is not important in
this case so either configuration will do. The first one will be used in this example.
Pin RA3 on the PIC16F877 is configured as a digital I/O output and will be used to send a pulse to update
the shift registers. Data shifted into the shift registers does not appear on the output pins until a pulse is
received on the register clock input pin (pin 12 on 74HC595).
The example program addouts.asm begins by defining four constants: BYTE1, BYTE2, BYTE3 and
BYTE4. These values of these constants were arbitrarily defined and these values will be output to the four
shift registers, starting with BYTE1.
The main program begins with a call to the initializespi subroutine. This subroutine initializes and enables
the SPI module in the configuration discussed above. The initializeRA3 subroutine that follows simply
configures pin RA3 as a digital I/O output and initializes the value to zero.
Next the four bytes of data are transmitted using the sendbyte subroutine. This subroutine begins by
clearing the interrupt flag bit SSPIF. The data transfer is accomplished by writing the value from the W
register to the SSPBUF register. Note: the appropriate value must be loaded to the W register before the
call to the sendbyte subroutine is made.
Since there are four consecutive calls to this subroutine (only one byte is sent at a time) we make sure that
the transfer is complete before control is given back to the main program. This is accomplished by polling
the interrupt flag bit SSPIF. When the SSPIF bit is set (signaling the transfer is complete) the return
command is executed and the main program resumes.
After the four bytes are transmitted the output pin RA3 is pulsed to update the outputs of the shift registers.
You can now measure the voltages on the output pins to confirm that the program has executed properly.
In this example the SPI input pin (SDI) is not used. In a similar fashion an additional number of input pins
can be added using the SPI and some parallel load shift registers (74HC165). This would require the use of
the SPI input pin (SDI).
6.4.3 Using the SPI with debug87x.hex

Use the spiinit command to initialize the SPI module. Data transfer is initiated using the spitrans
command. Transfers are done synchronously: as the MicroBoard outputs a byte from the SPI it reads in a
byte from the device connected to its input. For example:
>> spiinit
>> spitrans 28
val=92
; initialize the SPI

; outputs the byte 0x28 and receives the byte 0x92
Here it is assumed that there is an SPI device connected to the input of the SPI module, which sends the
hex byte 0x92.
Consider the example in the previous section (section 6.4.2). Using the configuration shown in Figure 6.2
we can send data to the shift registers using the following commands. Lets also assume that we have
grounded the SPI input pin since it is not being used.
>> spiinit
>> output a3
>> clear a3
>> spitrans 45
val=00
>> spitrans a9
val=00
>> spitrans 05
val=00
>> spitrans ff
val=00
>> set a3
>> clear a3
initialize the SPI

used to update shift register outputs
clear to initialize
send four bytes to bank of shift registers
val=00 since input pin is grounded
- send pulse to update shift registers
6.4.4 Using the LCD with debug87x.hex

If you would like to incorporate an LCD into your project, your TA can provide you with a parts kit and
instructions on assembling the LCD. The LCD can display 2 rows of 20 characters. If you are using the
PIC16F873 you will have to manually wire the LCD to your MicroBoard (ask Ed Tiong for details). On
the PIC16F877 MicroBoard there is a 10 pin connector that the LCD will plug directly into (for now, dont
worry about the polarity). The SPI module on the PIC is used to serially load the 595 shift register on the
LCD board. The data is then loaded, in parallel, to the LCD display. The debug87x.hex program contains
subroutines to control the LCD. Writing your own code to control the LCD would be a very involved task.
Rather it is recommended that you copy and paste the subroutines from debug87x into your own code and
modify as necessary. The following commands are used to control the LCD.
>> lcdinit
- initializes the LCD
Make sure that the LCD is connected to your MicroBoard before executing this command. You should see
the following text on the display.
EE 401
U. of Alberta
If there is nothing on the display reverse the connection and execute the lcdinit command again. If it still
doesnt work seek assistance from your TA.
>> lcdclear
>> lcdput line1
>> lcdline2
>> lcdput line2
>> lcdline1
- clears the LCD and puts the cursor in the home

position (top left corner)
- puts the text line1 on the LCD
- moves the cursor to the second row
- puts the text line2 on the LCD. This text will
be on the second line.
- moves the cursor back to the first row
6.4.5 Writing a C Program To Control The LCD

Thanks to one of your fellow students at the U of A (Alex Stickel), writing a C program to control the LCD
is as easy as pie. Simply include the header file LCD.h (written by Alex) in your C program. Now to send
text to the LCD use the following command:
printf(sendLCD, "Welcome to EE401!");
// writes text to LCD
See the example source code (lcd_ex.c available only for the PIC16F877 MicroBoard) found in the PIC
Code section of the EE401 website. This program also writes text to a terminal window on a PC (see
section 6.5.2).
6.5 Universal Synchronous Asynchronous Receiver Transmitter (USART)

Instructions on using the USART module will not be provided in this manual since clear and detailed
instructions are provide in section 10.0 of the PIC16F87X data sheet. Instead a detailed example using the
USART will be presented here.
6.5.1 Using the USART with a Personal Computer

The source code to accompany this example (tstusart.asm) can be found in the PIC Code section of the
EE401 website. Before continuing, ensure that you have read sections 5.0 and 5.1 to familiarize yourself
with hardware flow control and HyperTerminal.
In this example the USART module will be used to communicate with a personal computer.
HyperTerminal (or other terminal program) is used to communicate with the MicroBoard in a commandprompt fashion. The PC and your MicroBoard are connected using a computer serial cable. The male end
of the cable connects to the DB-9 connector on your MicroBoard and the female end connects to one of the
serial connectors (COM1 or COM2) on the back of your PC.
To properly communicate, both the HyperTerminal and the USART must be configured with the same
settings. First lets choose how we want to configure the PIC. A baud rate of 9600 will be used (this value
was chosen arbitrarily). If you look at tables 10-3 and 10.4 in the PIC16F87X data sheet you will see that
we have 2 options for selecting this baud rate.
1.
2.
high baud rate disabled (BRGH = 0), SPBRG = 6 (decimal value)

high baud rate enabled (BRGH = 1), SPBRG = 25 (decimal value)
Comparing the % error for these two setting we see that the second configuration has a lower % error (0.16
as opposed to 6.99). We will use this configuration.
The mode of communication is Asynchronous since there is no clock signal. Instead start and stop bits are
used. When asynchronous mode is selected the USART automatically attaches start and stop bits to the
data.
We will only be sending byte size data chunks so 8-bit transmit and receive is selected. Hardware flow
control will be used. Interrupts are disabled.
Now open and configure HyperTerminal with the following settings (refer to section 5.0 if necessary).
1.
2.
3.
4.
5.
9600 Bits Per Second.

8 Data Bits.
No Parity.
1 Stop Bits.
Hardware Flow Control.
You should have a window before you that is blank and has a blinking cursor in the upper left corner. It
looks pretty boring but this window is where all of the action happens. When you push a button on the
keyboard, the 8-bit ASCII value of the character you typed is sent to your MicroBoard. Data received by
HyperTerminal is written in this window.
For this example it is necessary to change some of the advanced properties of Hyperterminal. To do so
follow these steps:
1.
2.
3.
In the File menu (top left corner) select Properties.

In the Backspace key sends section, select Ctrl+H,Space,Ctrl+H. Now when you hit the
backspace key three characters are sent. The first one (Ctrl+H) moves the cursor back one space.
The second (Space) is, as you may have guessed, a regular space and the third moves the cursor
back again. This effectively moves the cursor back one space while deleting the character in that
space.
Click on the ASCII Setup button.
4.
5.
6.
Check the box beside Send line ends with line feeds. Now when you hit ENTER both a
carriage return and line feed are sent. A carriage return moves the cursor to the beginning of the
line and a line feed moves the cursor to the next line.
Click OK.
Click OK.
Lets analyze the example source code. The program begins by initializing the USART in the
configuration discussed above (initializeusart subroutine). Next the program sends the prompt Type
something..: to the HyperTerminal window using the writeprompt subroutine. The writeprompt
subroutine sends the prompt string to the HyperTerminal window one character at a time using the
outputbyte subroutine.
The outputbyte subroutine works in the following way. It first checks to see if the PC is ready to receive
data by testing the value on RB1. This pin is low when the PC is ready. Then it checks if the input buffer
is empty by testing the TXIF flag bit. If the buffer is full, then it waits until it is empty before it continues.
If it is empty the byte in register W is written to the TXREG register (USART transmit register). Note that
to send the desired character you must load its ASCII value into the W register before calling the
outputbyte subroutine.
After writing the prompt the program calls the inputbyte subroutine, which functions as follows. First the
CTS_PIN (RB2) is set low to enable reception. At this point the PC will start sending data. When the
RCIF flag bit is set (the receive buffer is full) reception is disabled and the byte in the receive buffer is
moved to the W register.
Next a call to the outputbyte subroutine is executed to send the received character to the terminal window.
The program loops through the consecutive inputbyte and outputbyte subroutines, effectively receiving a
character from HyperTerminal then immediately sending it to be displayed in the terminal window. So
anything that you type will appear on the screen. Pressing the enter key will jump the cursor to the
beginning of the next line.
6.5.2 Writing a C Program To Send Text To A Terminal Window

If you want to send text to a PC via the RS-232 serial interface, simply include the following statements at
the beginning of your C program:
#use delay(clock=4000000)
// defines clock speed of the MicroBoard
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7) // configures RS-232
And now we are ready to go. Use the following command to send text:
printf("\r\nHi There");
// writes text to terminal
See the example source code (lcd_ex.c or rs232.c) found in the PIC Code section of the EE401 website.
This program also writes text to an LCD (see section 6.4.5).
6.6 Pulse Width Modulator (PWM)

You can think of the Pulse Width Modulator as a square wave generator where the period and duty cycle
are variable. There are 2 PWM outputs (CCP1 and CCP2) and they may have different duty cycles but
they share a common period.
The PWM period is calculated using the following formula:
Period = ( PR 2 + 1) 4 Tosc (TMR 2 prescale)
You have control over the value in the PR2 register (Timer2 modules register) and the TMR2 prescale
value. PR2 holds an 8-bit number and TMR2 prescale value can be either 1, 4 or 16. TMR2 prescale value
is set using the T2CKSP1:T2CKSP0 bits (T2CON<1:0>). See section 7.0 (Register 7-1) in the PIC16F87X
data sheet. Tosc is the oscillator period (0.25 s).
For example, if PR2 contains B01100111 = 103 and T2CKSP1:T2CKSP0 = B01 (prescale = 4) then the
PWM period is (103+1)*4*0.25*4 = 416 s.
The duty cycles are specified with a 10-bit number. Each PWM pin has an associated CCPRxL register and
CCPxCON register. The CCPR1L register holds the upper 8 bits of the duty cycle value for CCP1 and
CCP1CON<5:4> holds the lower 2 bits. For CCP2 the CCPR2L and CCP2CON registers are used. The
following equation defines the PWM duty cycle:
DutyCycle = (CCPRxL : CCPxCON < 5 : 4 >) Tosc (TMR 2 prescale)
For example, if CCPR1L contains B00110011 and CCP1CON<5:4> contains B10 the duty cycle for
CCP1 is 206*0.25*4 = 206 s.
See the PIC Code section of the EE401 website for sample code (testpwm.asm).
6.6.1 Using the Pulse Width Modulator with debug87x.hex

The two built-in PWM modules are started using the pwmstart1 and pwmstart2 commands. The two
PWM outputs, CCP1 and CCP2 (pins RC2 and RC1, respectively), will share a common period but they
each may have different duty cycles. The commands pwmperiod, pwmduty1 and pwmduty2 control the
period and respective duty cycles. All three commands take an 8-bit number as a parameter (hexadecimal
00 to FF).
Use the following formula to calculate the period of the PWM:
Period = (pwmperiod value + 1) x 16s
The duty cycles can be calculated (as a percentage) using the following:
Duty Cycle = [ (duty cycle value) / (pwmperiod value) ] * 100%
For example:
>> pwmstart1
>> pwmstart2
- configures pin RC2 as a PWM output

- configures pin RC1 as a PWM output
Note: On the PIC, pin RC2 corresponds to PWM output pin CCP1 and pin RC1 corresponds to pin CCP2.
>>
>>
>>
>>
>>
pwmperiod ff
pwmduty1 40
pwmduty2 7f
pwmstop1
pwmstop2
sets the period to ~4ms

sets duty cycle for CCP1 to ~1ms (40/FF)
sets duty cycle for CCP2 to ~50% (7F/FF)
stops the output on CCP1
stops the output on CCP2
If you connect an LED to one of the PWM outputs, you can vary the brightness through varying the duty
cycle.
6.6.2 Digital-To-Analog Converter Using PWM

You can build a very simple digital-to-analog converter using the PWM module, a 1K resistor and a 10F
capacitor.
Choosing appropriate values for the resistance and capacitance forms a low pass filter with the necessary
time constant for creating an analog signal from the PWM output. The values shown are merely a
suggestion; youll need to make sure that the PWM period is sufficiently short compared to the RC time
constant or ripple will be evident. The output of this signal is controlled by the duty cycle of the PWM
signal: to increase the voltage, increase the duty cycle and vise versa.
>>
>>
>>
>>
>>
startpwm
pwmperiod ff
pwmduty1 00
pwmduty1 80
pwmduty1 ff
- output will be 0 volts

- output will be 2.5 volts
- output will be 5 volts
6.7 Analog-To-Digital Converter (A/D) Module

Built into the PIC16F873 is a 10-bit analog-to-digital converter. There are five input channels available on
the PIC16F873 and eight available on the PIC16F877. Since all the inputs are multiplexed together, the
ADC can only sample one input at a time. Also, two of the A/D pins can be used as voltage references if
the signal being sampled is outside the range of the PIC supply voltage. See section 11.0 in the
PIC16F87X data sheet for detailed instructions on using the A/D module.
All five ADC ports have a limited

amount of diode protection to prevent
input voltages outside of the Vdd to
Vss range. A better way to make sure
your PIC doesnt get fried by stray
analog voltages though, is to set up a
small circuit before the signal reaches
the ADC pin similar to the one to the
right. This circuit will not let any
voltage hit the ADC pin unless it is
between 0 and 5V and doesnt
depend on the PICs limited
protection.
The PIC16F87x data sheet also recommends that the maximum input impedance of an analog source be
less than 10k and that any current on any pin should not exceed 20mA.
6.7.1 Using A/D with debug87x.hex

To initialize the A/D module use the adcinit command. Use the adcread command to sample one of the
inputs. The program will return a 10-bit number (0x0000 to 0x03FF) corresponding to the voltage level on
the input pin.
>> adcinit
>> adcread 3
val=0155
- initialize the A/D module

- sample the voltage on input 3
- in this case, (155/3FF)x5V ~ 1.67V
After running adcinit all the A/D inputs are enabled. That is, you can no longer use these pins for general
purpose digital I/O. Running either the input or output commands on one of the A/D inputs will
automatically turn the A/D module off.
Part IV
Appendices
Appendix A - PIC16F873 MicroBoard Assembly Package

This appendix contains a parts kit list, assembly checklist, schematic diagram and board layout diagram
that you will use when constructing your PIC16F873 MicroBoard.
A1 Parts Kit List

Your PIC16F873 MicroBoard kit should include the following parts. If you are missing any go harass the
TA.
Qnty
1
6
2
5
1
1
1
1
1
1
1
4
3
2
1
2
2
1
1
1
Description
100F 25V electrolytic radial lead (100-220F 25V or greater)
001F 50V mono-cap
01F 50V mono-cap
2.1mm barrel power connector
9 pin female right angle DB connector
1N4000 1A 50V rectifier (1N4000-1N4007)
LM7805 5V 1A TO-220 voltage regulator
PIC16F873-04
L293 dual H-bridge driver
MAX232A RS-232 interface chip
4K7 watt resistor
470 watt resistor
330 watt resistor
4.00MHz 3 pin ceramic resonator with integral capacitors
14 pin IC sockets
16 pin IC sockets
Red LED
9Vdc 500ma wall adapter
MicroBoard Printed Circuit Board
Part Number
C1
C2, C5, C7, C17, C22, C23
C3 & one for test
C24-C28
CN1
CN6
D1
IC1
IC4
IC5
IC8
R1, R29, R30 & one for test
R23, R24 & one for test
R31, R32
Y1
Sockets for IC4
Sockets for IC5 and IC8
one for test
A2 Assembly Checklist
Soldering the components in this order is recommended (check them off as you go).
Part
Description
Number
4K7 watt resistors
R1
Notes
Yellow Violet Red Gold
R29
R30
470 watt resistors
Yellow Violet Brown Gold
330 watt resistors
Orange Orange Brown Gold
01F 50V mono-caps
(marked 104 for 10 x 10^4 pF)
001F 50V mono-caps
D1
1N400x
White band towards Y1
Sockets
2 14 pin IC sockets for IC4
Notches away from DB9/CN6 connector
Socket
18 pin socket for IC6
Do Not solder DIP ICs directly into the PCB
Socket
Y1
4.00MHz 3 pin ceramic resonator
CN1
CN6
9 pin DB female connector
C1
100F 25V
negative to edge of PCB
C3
10F 25V
positive to edge of PCB
IC1
LM7805
tab to edge of PCB
R23
R24
R31
R32
C24
C25
C26
C27
C28
C2
C5
C7
C17
C22
C23
Tabs may need to be bent to fit holes in PCB
A3 - Schematic Diagram (Eagle)
A4 - Board Layout Diagram (Eagle)
A5 - Power Checklist
Before installing any ICs, test the board for proper power connections.
The following measurements are to be taken on the auxiliary power connector. Before connecting the
power perform the following measurement.
Measurement
Use a DMM to measure resistance and check for a short
circuit from Vcc to ground.
Probe Connection
Desired Value
Aux: Pin 1 to Pin 3
> 500K
Now plug in the wall adaptor and connect it to CN1 (2.1mm barrel connector). Measure the following:
Vcc (with reference to ground)
Aux: Pin 1 to Pin 2
8 < Vcc < 20 Vdc
+5Vdc supply (with reference to ground)
Aux: Pin 6 to Pin 2
+5Vdc
Voltage on MCLR
IC4: Pin 1 to Pin 19
+5Vdc
Supply voltage
+5Vdc
Drive supply voltage
IC7: Pin 8 to Pin 4
Vcc
Logic supply voltage
+5Vdc
Measure the following on the PIC IC socket:
Measure the following on the L293D driver socket:
ENA voltage
IC7: Pin 1 to Pin 4
+5Vdc
ENB voltage
+5Vdc
+5Vdc
Measure the following on the MAX232 socket:

Supply voltage
If, and only if, all of the above power checks are correct continue. Disconnect the power and insert the
MAX232 IC into its socket. Pay careful attention to its orientation since connecting it backwards will
likely destroy the chip. Power up the MicroBoard again and measure the following on the MAX232
socket:
Supply voltage
+5Vdc
+10 V supply
+10Vdc
-10 V supply
-10Vdc
The power check is now complete. If all of your measurements were as expected then everything should
work fine. You can insert the other ICs into their appropriate sockets and you are ready to program the
PIC.
Appendix B - PIC16F877 MicroBoard Assembly Package

This appendix contains a parts kit list, assembly checklist, schematic diagram and board layout diagram
that you will use when constructing your PIC16F877 MicroBoard.
B1 Parts Kit List

Your PIC16F877 MicroBoard kit should include the following parts. If you are missing any go harass the
TA.
Qnty
1
2
11
Description
01F 50V mono-cap
1
1
1
1
1
1
1
4
30

9 pin female right angle DB connector
1N4000 1A 50V rectifier (1N4000-1N4007)
LM7805 5V 1A TO-220 voltage regulator
PIC16F877-04
L293 dual H-bridge driver
MAX232A RS-232 interface chip
4K7 watt resistor
470 watt resistor
1
1
2
1
1
1
4.00MHz 3 pin ceramic resonator with integral capacitors

40 pin IC socket
16 pin IC sockets
Red LED
9Vdc 500ma wall adapter
MicroBoard Printed Circuit Board
Part Number
C1
C3 & one for test
C2, C5, C7, C15, C18, C19,
C24-C28
CN1
DB09
D1
IC1
IC4
IC6
IC8
R1, R25, R26 & one for test
R10-R13, R23, R27-R30,
R35-R38, R43 -R48, R52,
R54, R56-R64
Y1
Socket for IC4
Sockets for IC6 and IC8
one for test
B2 - Assembly Checklist
Soldering the components in this order is recommended (check them off as you go).
Part
Description
Number
4K7 watt resistors
R1
Notes
Yellow Violet Red Gold
R25
R26
R35
470 watt resistors
R47
R43
R38
R11
R10
R12
R13
R36
R45
R37
R44
R54
R52
R56
R64
R57
R63
R58
R62
R59
R61
R60
R46
R30
R48
R29
R28
R27
R23
Continued on following page
Yellow Violet Brown Gold
C2
01F 50V mono-caps
D1
1N400x
White band towards Y1
Socket
Do Not solder DIP ICs directly into the PCB
Socket
Socket
40 pin IC socket for IC4
Y1
4.00MHz 3 pin ceramic resonator
CN1
CN6
9 pin DB female connector
C1
100F 25V
negative to edge of PCB
C3
10F 25V
positive to edge of PCB
IC1
LM7805
tab to edge of PCB
C5
C7
C15
C18
C19
C24
C25
C26
C27
C28
Notche away from DB9/CN6 connector
Tabs may need to be bent to fit holes in PCB
B3 - Schematic Diagram (Eagle)
B4 - Board Layout Diagram (Eagle)
B5 - Power Checklist
Before installing any ICs, test the board for proper power connections.
The following measurements are to be taken on the auxiliary power connectors (labeled RAW and VCC,
see board layout diagram). Before connecting the power perform the following measurement.
Measurement
Probe Connection
Desired Value

circuit from Vcc to ground.
VCC connector
> 500K

circuit from RAW to ground.
RAW connector
> 500K
Now plug in the wall adaptor and connect it to CN1 (2.1mm barrel connector). Measure the following:
Raw Supply
RAW connector
8 < Vcc < 20 Vdc
+5Vdc supply (with reference to ground)
VCC connector
+5Vdc
Voltage on MCLR
+5Vdc
Supply voltage
+5Vdc
Supply voltage
+5Vdc
Ground
0Vdc
Drive supply voltage
IC6: Pin 8 to Pin 4
Vcc
Logic supply voltage
+5Vdc
ENA voltage
IC6: Pin 1 to Pin 4
+5Vdc
ENB voltage
+5Vdc
+5Vdc
Measure the following on the PIC IC socket:
Measure the following on the L293D driver socket:
Measure the following on the MAX232 socket:

Supply voltage
If, and only if, all of the above power checks are correct continue. Disconnect the power and insert the
MAX232 IC into its socket. Pay careful attention to its orientation since connecting it backwards will
likely destroy the chip. Power up the MicroBoard again and measure the following on the MAX232
socket:
Supply voltage
+5Vdc
+10 V supply
+10Vdc
-10 V supply
-10Vdc
The power check is now complete. If all of your measurements were as expected then everything should
work fine. You can insert the other ICs into their appropriate sockets and you are ready to program the
PIC.
Appendix C - Soldering Tips

Installing Components
Before soldering trial fit all components to ensure all hole sizes are correct and components will fit
properly.
You will likely need to clean the copper on a milled board of tarnish and oils. Cleaning can be
accomplished by lightly abrading the surface with at kitchen, non-detergent pad (Scotch/Brillo pad), fine
steel wool, or fine sandpaper. Care must be taken not to damage the board. Be careful not to touch the
copper surfaces with your hands; fingerprints will contaminate the clean copper surfaces. Some boards
may be tin-plated for grater durability.
Install components from shortest first to highest last. With this in mind, solder the bias first, then install the
resistors and diodes, followed by the IC sockets and monolithic capacitors and then lastly the electrolytic
capacitors and connectors. Appendix ? includes assembly checklists for the PIC16F873 and PIC16F877
MicroBoards. It is recommended that you solder the components in that order, checking off the
components as you go.
Insure that polar circuit elements, such as diodes and electrolytic capacitors, are installed in the proper
orientation. If they are not installed properly, this will cause you unnecessary grief and time spent
troubleshooting the board. When installing IC sockets ensure that the notched section matches with the
orientation of the Ics. The notch indicates the location of pin 1 on the IC.
Soldering
Remember safety always comes first! Always wear safety glasses when soldering. It is also recommended
that you not wear leather pants as the leather material absorbs chemicals and you end up with a very toxic
pair of pants.
Turn the soldering iron on and allow time for the iron to heat up. While the iron is heating up, ensure that
the sponge is damp, as you will need to clean the tip of the iron prior to soldering. To clean the soldering
iron tip, simply wipe the heated tip of the iron against the damp sponge. The tip should have a bright
silvery appearance after you have cleaned it.
1.
2.
Clean the component lead and pad with a flux pen.

Insert the component lead into the proper position on the printed circuit board. Dont pull the
component too tight against the board; the component must be able to expand as the temperature
changes.
3.
Use the hot soldering iron at a 45 angle. The irons tip should come in contact with both the
component lead and the pad on the circuit board. Allow the lead and pad to heat up (a few
seconds).
4.
5.
6.
7.
Apply the solder to the heated lead and allow it to heat the solder. Try not to touch the solder to
the soldering iron. Allow the solder to melt and spread around the whole connection. After the
solder flows around and adheres to the part being connected remove the soldering iron.
Examine the solder connection. If the connection is cone shaped the proper temperature was
reached; bad solder appears grayish and round.
Cut the components wire leads, leaving a bit of wire protruding from the solder.
Examine the area around and remove any excess solder.

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6.6.2 Digital-to-Analog Converter Using PWM

1.0 Introduction to the MicroBoard

The first generation MicroBoard based on the PIC16F873 microcontroller.

Both MicroBoards come loaded with the following features:

1.1 MicroBoard Specifications

Total Number of Pins on PIC (DIP package)

Range of Input Voltage to Barrel Connector

PIC Supply Voltage

4 MHz (Upgradeable to 20 MHz)*

Digital I/O Pins

Analog to Digital Channels

Pulse Width Modulated Pins

On-board Programming Module

Parallel Slave Port Module

10 Pin LCD Interface

Power Consumption with all ICs

140 mA @ 7.2 Vdc

Power Consumption with no L293s

Max current drawn from +12Vdc connector

Max current drawn from +5Vdc connector

Max current drawn from -12Vdc connector

Table 1.1 MicroBoard Specifications

1.2 Functional Description

Figure 1.1 Block Diagram of the MicroBoard Design

1.2.1 DC Power Supplies

Figure 1.2 DC Power Supplies Schematic

1.2.2 RS-232 Serial Interface

Figure 1.3 RS-232 Serial Interface Schematic

2.0 MicroBoard Assembly

Learn how to program it (see section 3.0)

3.0 Programming the PIC Microcontroller

3.1 Assembly Language Programming

3.2 Memory Structure

; selects program memory page 2

; Data Memory start positions

; select data memory bank 1

3.3 Instruction Set

; Clear the RP0 bit in the STATUS register.

; Clear the entire STATUS register.

; Equate the label length with value 0x35.

; Load the W register with the value 0x35.

; Move the value from the W register to the

3.3.1 Mathematical Operations

; Add the contents of W and lreg and stores

; lreg is now the destination register

3.3.2 Flow Control

; return to beginning of main program

; subroutines are declared here

; increment the value in the W register 3 times

; return to main program

3.6 Putting It All Together

this tells MPLAB which PIC

; Data Memory start positions

; This is where your program code begins

when the PIC is powered up or after a reset

; Only include this next section if you are using interrupts.

when an interrupt occurs the program jumps

; this is the start of your main program

; this is the end of the program.

4.0 Assembling Your PIC Program

To assemble the program, follow these steps:

4.1 Writing Your Program to the PIC

* WARNING *