Arhitectura microcontrollerelor

Cpt. conf. univ. dr. ing. Cristian MOLDER

Facultatea de Sisteme Electronice si Informatice Militare
Academia Tehnic
a Militar
a

Compunerea unui microcontroller

q

A Microcontroller is a computer dedicated to a single task

Fundamental components:

Central Processing Unit

>

Memory

System Clock (Oscillator)

Peripherals

: >
6 (

Arhitectura von Neumann vs. Harvard

Arhitectura von Neumann
Memoria de date si memoria de program sunt accesate prin aceiasi magistral
a;
La un moment dat, unitatea central
a de calcul poate accesa doar una din cele
dou
a memorii;

Arhitectura Harvard
Magistralele de date si de instructiuni sunt separate fizic;
Se pot accesa simultan memoriile de program si de date;
Deoarece exist
a dou
a magistrale de date, l
atimea de band
a este m
arit
a;
Arhitectura Harvard

Data
Memory

Arhitectura von Neumann

Program
Memory

CPU
8

16

CPU
8

Program
and
Data
Memory

Modele arhitecturale ISA

Instruction Set Architecture (ISA): defineste parametrii operationali ai unui
controller, precum setul de operatii, operanzii, modul de stocare si adresare al
memoriei, ntreruperile;
Operatiile sunt construite din una sau mai multe instructiuni care execut
a
anumite comenzi. Operatiile uzuale sunt cele matematice si logice, de deplasare,
de manipulare, conditionale, de comparare, de I/O.
Math and Logical

Shift/Rotate

Load/Store

Add
Subtract
Multiply
Divide
AND
OR
XOR
...

Logical Shift Right

Logical Shift Left
Rotate Right
Rotate Left
...

Stack PUSH
Stack POP
Load
Store
...

Compare instructions . . .
Move instructions . . .
Branch instructions . . .
...

Operanzii definesc modul n care operatiile manipuleaz

a datele. Operanzii pot fi
de tip byte (8 biti), halfword (16 biti), word (32 biti) etc.
0

Byte
0

Halfword
Word

7
15
31

Modele arhitecturale ISA

Modul de organizare al memoriei utilizate pentru a stoca operanzii (liniar
a,
segmentat
a, regiuni cu adres
a special
a).
Modul de stocare al datelor: little-endian (MSB se stocheaz
a primul) sau
big-endian (LSB se stocheaz
a primul).
Setul de registrii: num
arul, dimensiunea si destinatia registrilor.
Modul de utilizare a registrilor: specificarea registrilor care pot fi utilizati pentru
schimb, uz general, operatii n virgul
a mobil
a.
Modul de adresare al memoriei: de tip load-store (datele sunt procesate doar n
registii) sau de tip register-memory (datele pot fi procesate at
at n registrii, c
at
si n alte tipuri de memorie).

Complex Instruction Set Computing (CISC): operatiile complexe sunt executate

cu ajutorul mai multor instructiuni;
Reduced Instruction Set Computing (RISC): arhitectur
a mai simpl
a si/sau cu
num
ar redus de operatii si instructiuni, precum si un num
ar mai mic de cicluri
per operatie;
Minimal Instruction Set Computing (MISC): procesor cu num
ar foarte mic de
operatii elementare;

Memoria

Memoria este structurat

a ierarhic, n functie de viteza necesar
a si de destinatia
acesteia;
Cache Level 1 (L1): memoria integrat
a on-chip (cea mai rapid
a, cu dimensiunea cea mai mic
a);
Cache Level 2 (L2): memorie integrat
a on-chip sau off-chip;
Cache Level 3 (L3) memorie off-chip, situat
a ntre MCU si memoria extern
a a sistemului;
Memoria principal
a;
Memorii secundare/tertiare (dispozitive de stocare externe).

Processor

Cache L3
Cache L2
Cache L1

Main
Memory

Secondary/Tertiary
Storage

Aplicatii ale microcontrollerelor

Familiile de microcontrollere Microchip

PIC is a family of Harvard architecture microcontrollers made by Microchip Technology,
originally developed by General Instrument's Microelectronics Division. The name PIC
initially referred to "Programmable Interface Controller".
PICs are popular with both industrial developers and hobbyists alike due to their low cost,
wide availability, large user base, extensive collection of application notes, availability of
low cost or free development tools, and serial programming (and re-programming with flash
memory) capability.
Core architecture: The PIC architecture is distinctively minimalist:

Separate code and data spaces (Harvard architecture)

A small number of fixed length instructions
Most instructions are single cycle execution (4 clock cycles), with single delay cycles upon branches and skips
A single accumulator (W), the use of which (as source operand) is implied (i.e. is not encoded in the opcode)
All RAM locations function as registers as both source and/or destination of math and other functions
A hardware stack for storing return addresses
A fairly small amount of addressable data space (typically 256 bytes), extended through banking
Data space mapped CPU, port, and peripheral registers
The program counter is also mapped into the data space and writable (this is used to implement indirect jumps).

Instruction set: A PIC's instructions vary from about 35 instructions for the low-end PICs to over 80 instructions for
the high-end PICs. The instruction set includes instructions to perform a variety of operations on registers directly,
the accumulator and a literal constant or the accumulator and a register, as well as for conditional execution, and
program branching.

Familiile de microcontrollere Microchip

t
-bi
2
3

it

Functionality

-b
16

dsPIC33
dsPIC30

PIC24H
PIC24F

it
8-b PIC16

PIC18

PIC12
PIC10

Performance

PIC32

128

Memory (Kbytes)

64
32

Functionality

Familiile de microcontrollere Microchip pe 8 biti

High-Performance
PIC18

8-bit Data,
16-bit Instruction

16
8

Mid-Range

PIC16

8-bit Data,
14-bit Instruction

PIC12

Baseline

8-bit Data,
12-bit Instruction

PIC10

Performance

14

18

28
40
Pins

64

84

100

Familiile de microcontrollere Microchip pe 8 biti

Family

ROM
[Kbytes]

RAM
[bytes]

Pins

Clock A/D
A/D
Comparators
[MHz] Inputs Resolution

8/16-bit
Timers

Serial Communications

PWM
Outputs

Others

Base-Line 8-bit architecture, 12-bit Instruction Word Length

PIC10Fxxx
PIC12Fxxx
PIC16Fxxx
PIC16HVxxx

0.375-0.75
0.75-1.5
0.75-3
1.5

16-24
25-38
25-134
25

0-2
0-3
0-3
-

8
8
8
-

0-1
0-1
0-2
-

1x8
1x8
1x8
1x8

EEPROM
EEPROM
Vdd=15V

0-4
0-4
0-13
0-12

10
10
8 or 10
10

1
1
0-2
2

1-2 x 8, 1 x 16
1-2 x 8, 1 x 16
1-2 x 8, 1 x 16
2 x 8, 1 x 16

USART, I2C, SPI

USART, I2C, SPI

0-1
0-1
0-3
-

EEPROM
-

256-3936 18-80 32-48 4-16

1024-3936 28-100 40-48 10-16
768-3936 28-44
64 10-13

10 or 12
10
10

0-3
2
2

0-5
2-5
2

6-8
8
14-44
18-20

4-8
4-8
20
20

Mid-Range 8-bit architecture, 14-bit Instruction Word Length

PIC12Fxxx
PIC12HVxxx
PIC16Fxxx
PIC16HVxxx

1.75-3.5
1.75
1.75-14
1.75-3.5

64-128
64
64-368
64-128

8
8
14-64
14-20

20
20
20
20

High-End 8-bit architecture, 16-bit Instruction Word Length

PIC18Fxxx
PIC18FxxJxx
PIC18FxxKxx

4-128
8-128
8-64

0-2 x 8, 2-3 x 16 USB 2.0, CAN 2.0, USART, I2C, SPI

0-2 x 8, 2-3 x 16 USB 2.0, CAN 2.0, Ethernet, I2C, SPI
1 x 8, 3 x 16
USART, I2C, SPI

Familiile de microcontrollere Microchip pe 8 biti

PIC10/PIC12/PIC16 FAMILIES

HIGH-PERFORMANCE PIC18 FAMILY

PIC16F767

PIC16F877
PIC16F877A
PIC16F887

PIC16F87

PIC16F689

PIC16F874
PIC16F874A

PIC16F883

PIC16F884

PIC16F639

PIC16F628A

PIC16F677

PIC16F722

PIC16F684

MC

PIC16F716

PIC16F687

PIC16F870

PIC16HV616 HV

PIC16F819

PIC16F785

PIC16F872

PIC16HV785 HV

PIC16F882

MC

PIC12F635

PIC16F627A

PIC16F630

PIC16F818

PIC16F676

PIC16F84A

PIC16HV610 HV

PIC16F84

PIC16F871

PIC16F59

PIC16F631

PIC18F14K50 U
PIC18F14K22

PIC12HV609 HV

PIC16F54

0.375

PIC10F200
PIC10F204

6-Pin

Pin Count
8-Pin

14-Pin

18-Pin

20-Pin

28-Pin

40-Pin

64-Pin

PIC18F1220
PIC18F1230 MC

PIC18F13K50 U
PIC18F13K22

18-Pin

20-Pin

U
U
C

U
U
U

MC

U
C

MC

PIC18F4682 C
PIC18F4610
PIC18F4620
PIC18F4680 C
PIC18F46J11
PIC18F46J50 U
PIC18F46K20
PIC18F4515
PIC18F4525
PIC18F4585
PIC18F4510
PIC18F4520
PIC18F4523
PIC18F4550
PIC18F4553
PIC18F4580
PIC18F45J10
PIC18F45J11
PIC18F45J50
PIC18F45K20
PIC18F4455
PIC18F4458
PIC18F4410
PIC18F4420
PIC18F4423
PIC18F4431
PIC18F4450
PIC18F4480
PIC18F44J10
PIC18F44J11
PIC18F44J50
PIC18F44K20
PIC18F4320
PIC18F4321
PIC18F4331
PIC18F43K20

PIC18F2220
PIC18F2221

PIC18F4220
PIC18F4221

28-Pin

40-Pin

PIC18F6622
PIC18F6680
PIC18F66J10
PIC18F66J11
PIC18F66J50
PIC18F66J60
PIC18F66J90
PIC18F6527
PIC18F6585
PIC18F65J15
PIC18F6520
PIC18F65J10
PIC18F65J11
PIC18F65J50
PIC18F65J90

U
U
C

K K EELOQ Code Hopping Technology

LCD

HV High Voltage

MC Motor Control

Legend:

C CAN

Ethernet

LCD

MC Motor Control

U
E
L
C

U
L

PIC18F8622
PIC18F8680
PIC18F86J10
PIC18F86J11
PIC18F86J50
PIC18F86J60
PIC18F86J90
PIC18F8527
PIC18F8585
PIC18F85J15
PIC18F8520
PIC18F85J10
PIC18F85J11
PIC18F85J50
PIC18F85J90

PIC18F96J60 E

U
E
L
C

U
L

U
U
U

MC
U
C

PIC18F6410
PIC18F6490
PIC18F6493
PIC18F64J11
PIC18F64J90

L
L
L

PIC18F8410
PIC18F8490 L
PIC18F8493 L
PIC18F84J11
PIC18F84J90 L

MC

PIC18F6310
PIC18F6390
PIC18F6393
PIC18F63J11
PIC18F63J90

L
L
L

PIC18F8310
PIC18F8390 L
PIC18F8393 L
PIC18F83J11
PIC18F83J90 L

Pin Count

64-Pin

Items in blue - check for availability.

Legend:

USB

80-Pin

100-Pin

PIC10F220

PIC18F1320
PIC18F1330 MC

PIC18F96J65 E

U
E

PIC10F222

0.375

Program Memory (KB)

PIC12F508

PIC10F206

0.75

0.75

0.875

PIC16F83
PIC10F202

16

PIC16F526

PIC16F506

PIC12F519

PIC16HV540 HV

PIC12F510

0.875

PIC16F505

U
E

U
E
L

16

PIC12F509

1.5

1.5

PIC12HV615 HV

U
E
L

24

PIC16F84A

PIC12F675

PIC18F2515
PIC18F2525
PIC18F2585
PIC18F2510
PIC18F2520
PIC18F2523
PIC18F2550
PIC18F2553
PIC18F2580
PIC18F25J10
PIC18F25J11
PIC18F25J50
PIC18F25K20
PIC18F2455
PIC18F2458
PIC18F2410
PIC18F2420
PIC18F2423
PIC18F2431
PIC18F2450
PIC18F2480
PIC18F24J10
PIC18F24J11
PIC18F24J50
PIC18F24K20
PIC18F2320
PIC18F2321
PIC18F2331
PIC18F23K20

1.75

1.75

PIC12F629

PIC16F610

PIC16F914

24

MC

PIC18F4685

32

PIC12F615

PIC18F2682
PIC18F2610
PIC18F2620
PIC18F2680
PIC18F26J11
PIC18F26J50
PIC18F26K20

PIC16F57
PIC12F609

100-Pin
PIC18F97J60 E

48

PIC16F628

MC

3.5

3.5

PIC16F72

MC

PIC16F636

PIC18F2685

80-Pin
PIC18F8722
PIC18F8723
PIC18F87J10
PIC18F87J11
PIC18F87J50
PIC18F87J60
PIC18F87J90
PIC18F8627
PIC18F8628
PIC18F86J15
PIC18F86J16
PIC18F86J55
PIC18F86J65

64

PIC16F747

PIC16F873A

PIC16F616

MC

MC

64-Pin
PIC18F6722
PIC18F6723
PIC18F67J10
PIC18F67J11
PIC18F67J50
PIC18F67J60
PIC18F67J90
PIC18F6627
PIC18F6628
PIC18F66J15
PIC18F66J16
PIC18F66J55
PIC18F66J65

PIC16F74
MC

PIC16F873

PIC16F913
PIC12F683

40-Pin

PIC16F724

PIC16F73
PIC16F737

PIC16F690

PIC16F917

28-Pin

80

PIC16F88

PIC16F723

PIC16F685

20-Pin

96

PIC16F648A

PIC16F777

PIC16F886
PIC16F916
PIC16F688

MC

PIC16F876
PIC16F876A

18-Pin
Pin Count

128

PIC16F77

Program Memory (KB)

14

PIC16F76

128

64-Pin

PIC16F946

Program Memory (KB)

40-Pin

PIC16F727

14

Program Memory (KB)

28-Pin

PIC16F726

96

20-Pin

80

18-Pin

64

14-Pin

48

8-Pin

32

6-Pin
Pin Count

Seria de microcontrollere PIC16F87x

40

RB7/PGD

MCLR/VPP/THV

28

RB7/PGD

39

RB6/PGC

RA0/AN0

27

RB6/PGC

RA1/AN1

38

RB5

RA1/AN1

26

RB5

RA2/AN2/VREF-

37

RB4

RA2/AN2/VREF-

25

RB4

RA3/AN3/VREF+

36

RB3/PGM

RA3/AN3/VREF+

24

RB3/PGM

RA4/T0CKI

35

RB2

RA4/T0CKI

23

RB2

RA5/AN5/SS

34

RB1

RA5/AN5/SS

22

RB1

RE0/RD/AN5

33

RB0/INT

VSS

21

RB0/INT

RE1/WR/AN6

32

VDD

OSC1/CLKIN

20

VDD

RE2/CS/AN7

10

31

VSS

OSC2/CLKOUT

10

19

VSS

VDD

11

30

RD7/PSP7

RC0/T1OSO/T1CKI

11

18

RC7/RX/DT

VSS

12

29

RD6/PSP6

RC1/T1OSI/CCP2

12

17

RC6/TX/CK

OSC1/CLKIN

13

28

RD5/PSP5

RC2/CCP1

13

16

RC5/SDO

OSC2/CLKOUT

14

27

RD4/PSP4

RC3/SCK/SCL

14

15

RC4/SDI/SDA

RC0/T1OSO/T1CKI

15

26

RC7/RX/DT

RC1/T1OSI/CCP2

16

25

RC6/TX/CK

RC2/CCP1

17

24

RC5/SDO

RC3/SCK/SCL

18

23

RC4/SDI/SDA

RD0/PSP0

19

22

RD3/PSP3

RD1/PSP1

20

21

RD2/PSP2

DIP40

PIC16F876/874

RA0/AN0

PIC16F877/873

MCLR/VPP/THV

DIP28

Caracteristicile microcontrollerului PIC16F887

Oscillator
0-20MHz

SPI
USART
I2C

T0 T1 T2

SFR

RAM
(386)

Timers
Internal
Oscillator

Serial
Communication

10-bit A/D
Converter

CCP1, CCP2

Vref

CCP/PWM
modules

CPU
(35 instructions)

PWM

EEPROM (256)
Interrupts

WDT

Port B

Port C

PIC 16F887

Memory
RESET

I/O Ports (25mA)

Port A

Program
Memory 8K

Port D

Port E

Power Supply
2 - 5.5V

RISC architecture
35 instructions
All single-cycle instructions (4 clock cycles)
except branches and skips
One accumulator (W)
Operating frequency 0-20 MHZ
Precision internal oscillator
Factory calibrated
Software selectable frequency range of 8MHz
to 31KHz

Power supply voltage 2.0-5.5V

Consumption: 220uA (2.0V, 4MHz),
11uA (2.0 V, 32 KHz) 50nA (stand-by mode)
Power-Saving Sleep Mode
Brown-out Reset with software control option
35 input/output pins
High current source/sink for direct LED drive
software and individually programmable
pull-up resistor
Interrupt-on-Change pin
8K ROM memory in FLASH technology
Chip can be reprogrammed up to 100.000 times
256 bytes EEPROM memory
Data can be written more than 1.000.000 times
368 bytes RAM memory
A/D converter:
14-channels
10-bit resolution
3 independent timers/counters
Watch-dog timer
Analogue comparator module with
Two analogue comparators
Fixed voltage reference (0.6V)
Programmable on-chip voltage reference
PWM output steering control
Enhanced USART module
Supports RS-485, RS-232 and LIN2.0
Auto-Baud Detect
Master Synchronous Serial Port (MSSP)
supports SPI and I2C mode

PIC16F877: Registrii cu functii speciale

Bank 0

Bank 1

INDF

00h

TMR0

01h

PCL

02h

STATUS

03h

<--

Bank 2
80h

OPTION_REG 81h
<--

82h

Bank 3

<--

100h

<--

180h

<-- Bank0

101h

<-- Bank1

181h

<--

102h

<--

182h

PIC16F877 SFR

<--

83h

<--

103h

<--

183h

The registers which the contents are the same as PIC16F873

FSR

04h

<--

84h

<--

104h

<--

184h

The registers which the contents are different from PIC16F873

PORTA

05h

TRISA

85h

00h

105h

00h

185h

Unimplemented

PORTB

06h

TRISB

86h

<-- Bank0

106h

<-- Bank1

186h

PORTC

07h

TRISC

87h

00h

107h

00h

187h

PORTD

08h

TRISD

88h

00h

108h

00h

188h

PORTE

09h

TRISE

89h

00h

109h

00h

189h

PCLATH

0Ah

<--

8Ah

<--

10Ah

<--

18Ah

INTCON

0Bh

<--

8Bh

<--

10Bh

<--

18Bh

PIR1

0Ch

PIE1

8Ch

EEDATA

10Ch

EECON1

18Ch

PIR2

0Dh

PIE2

8Dh

EEADR

10Dh

EECON2

18Dh

TMR1L

0Eh

PCON

8Eh

EEDATH

10Eh

Reserved

18Eh

TMR1H

0Fh

00h

8Fh

EEADRH

10Fh

Reserved

18Fh

T1CON

10h

00h

90h

110h

190h

TMR2

11h

SSPCON2

91h

111h

191h

T2CON

12h

PR2

92h

112h

192h

SSPBUF

13h

SSPADD

93h

113h

193h

SSPCON

14h

SSPSTAT

94h

114h

194h

CCPR1L

15h

00h

95h

115h

CCPR1H

16h

00h

96h

116h

CCP1CON

17h

00h

97h

RCSTA

18h

TXSTA

98h

TXREG

19h

SPBRG

99h

119h

199h

RCREG

1Ah

00h

9Ah

11Ah

19Ah

CCPR2L

1Bh

00h

9Bh

11Bh

19Bh

CCPR2H

1Ch

00h

9Ch

11Ch

19Ch

CCP2CON

1Dh

00h

9Dh

11Dh

19Dh

ADRESH

1Eh

ADRESL

9Eh

11Eh

ADCON0

1Fh

ADCON1

9Fh

11Fh

GPR
(80 Bytes)

20h

GPR
(80 Bytes)

A0h

GPR
(16 Bytes)

70h

6Fh

7Fh

<--

Efh
F0h
Ffh

General
Purpose
Register
(16 Bytes)

GPR
(80 Bytes)
<--

117h
118h

120h
16Fh
170h
17Fh

195h
196h
General
Purpose
Register
(16 Bytes)

197h
198h

19Eh
19Fh
GPR
(80 Bytes)
<--

1A0h
1EFh
1F0h
1FFh

PIC16F887: Semnalul de ceas

Sleep

OSC2

LP, XT, HS, RC, RCIO, EC mode

OSC1
External Oscillator

8 MHz
HFINTOSC

4 MHz

8 MHz

2 MHz
Divider
1/N

1 MHz
500 kHz

LFINTOSC

250 kHz

31 kHz

125 kHz
31 kHz

Internal Oscillator

111

CPU

110
101
100
011
010
001
000

Power-up Timer
Watchdog Timer
Fail-Safe Clock
Monitor

IRCF2

IRCF1 IRCF0

SCS

OSCCON Register

Programmer
(Config word)

PIC16F887: Semnalul de ceas

OPTION_REG

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

RBPU

INTEDG

T0CS

T0SE

PSA

PS2

PS1

PS0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

The OPTION_REG register contains various control bits to configure

Timer0/WDT prescaler, timer TMR0, external interrupt and pull-ups on
PORTB.

Features

Bit name

Legend
R/W
(1)

Readable/Writable bit
After reset, bit is set

RBPU - Port B Pull up Enable bit.

1 - Port B pull-ups are disabled.
0 - Port B pull-ups are enabled.
INTEDG - Interrupt Edge Select bit.
1 - Interrupt on rising edge of RB0/INT pin.
0 - Interrupt on falling edge of RB0/INT pin.
T0CS - TMR0 Clock Source Select bit.
1 - Transition on TOCKI pin.
0 - Internal instruction cycle clock (Fosc/4).

PS2

PS1

PS0

TMR0

WDT

1:2

1:1

1:4

1:2

1:8

1:4

1:16

1:8

1:64

1:32

1:128

1:64

1:256

1:28

T0SE - TMR0 Source Edge Select bit selects pulse edge (rising or falling) counted by the timer TMR0 through the RA4/T0CKI pin.
1 - Increment on high-to-low transition on TOCKI pin.
0 - Increment on low-to-high transition on TOCKI pin.
PSA - Prescaler Assignment bit assigns prescaler (only one exists) to the timer or watchdog timer. Prescaler rate is selected by combining
these three bits. As shown in the table below, prescaler rate depends on whether prescaler is assigned to the timer (TMR0) or watch-dog timer
(WDT).
1 - Prescaler is assigned to the WDT.
0 - Prescaler is assigned to the Timer0 module.

PIC16F887: Registrul de control al oscilatorului

OSCCON

R/W (1)

R/W (1)

R/W (0)

R (1)

R (0)

R (0)

R/W (0)

Features

IRCF2

IRCF1

IRCF0

OSTS

HTS

LTS

SCS

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

IRCF2-0 - Internal Oscillator Frequency Select bits. The divider rate

depends on the combination of these three bits. The clock frequency of
internal oscillator is determined in the same way.
OSTS - Oscillator Start-up Time-out Status bit indicates which clock
source is currently in use. It is read-only.

Legend
R/W
R
(0)
(1)

Bit is unimplemented
Readable/Writable bit
Readable bit
After reset, bit is cleared
After reset, bit is set

1 - External clock oscillator is in use.

0 - One of internal clock oscillators is in use (HFINTOSC or LFINTOSC).
HTS - HFINTOSC Stable bit (8 MHz - 125 kHz) indicates whether the
high-frequency internal oscillator operates in a stable way.
1 - HFINTOSC is stable.
0 - HFINTOSC is not stable.
LTS - LFINTOSC Stable bit (31 kHz) indicates whether the low-frequency
internal oscillator operates in a stable way.
1 - LFINTOSC is stable.
0 - LFINTOSC is not stable.
SCS - System Clock Select bit determines which oscillator is to be used
as a clock source.

IRCF2

IRCF1

IRCF0

Frequency

Oscillator

8 MHz

HFINTOSC

4 MHz

HFINTOSC

2 MHz

HFINTOSC

1 MHz

HFINTOSC

500 kHz

HFINTOSC

250 kHz

HFINTOSC

125 kHz

HFINTOSC

31 kHz

LFINTOSC

1 - Internal oscillator is used for system clock.

0 - External oscillator is used for system clock.
The oscillator mode is set by bits in Config Word written to the microcontroller memory during the process of programming.

PIC16F887: Operarea cu oscilatoare externe

Oscilator extern

EC mode

LP, XT, HS mode

CPU

OSC1 pin

20-30pF

CPU

OSC1 pin

OSC.
DC-20MHz
OSC2 pin

OSC2 pin

OSC.

GND

I/O

20-30pF

Cuar
EC mode uses external oscillator as a clock source. The maximum
frequency of this clock is limited to 20 MHz.

+5V

LP mode is used for low-frequency quartz crystal (only 32.768 kHz).

XT mode is used for intermediate-frequency quartz crystals up to 8 MHz.
HS mode is used for high-frequency quartz crystals over 8 MHz.

+5V

RC mode

5-100K

Fosc

OSC1 pin

CPU

RCIO mode

5-100K
OSC1 pin

OSC.
20pF

Fosc

CPU

OSC.
20pF

OSC2 pin

OSC2 pin

GND

GND

I/O

Fosc/4

RC mode. The OSC1 pin should be connected to the RC circuit and

the OSC2 pin outputs the RC oscillator frequency divided by 4. This
signal may be used for calibration, synchronization or other
application requirements.

RCIO mode. The RC circuit is connected to the OSC1 pin. The available
OSC2 pin is used as an additional general-purpose I/O pin.

PIC16F887: Operarea cu oscilator intern

INTOSC mode

INTOSCIO mode

CPU

OSC1 pin

OSC1 pin

I/O

INT.
OSC.

Fosc

CPU

I/O
Fosc

OSC2 pin

OSC2 pin

INT.
OSC.

I/O

Fosc/4

INTOSC mode. The OSC1 pin is available as a general purpose I/O,

while the OSC2 pin outputs selected internal oscillator frequency
divided by 4.

INTOSCIO mode. Both pins are available as a general purpose I/O.

8 MHz

LFINTOSC

Postscaler

HFINTOSC

CPU
4 MHz
2 MHz
1 MHz
500 kHz
250 kHz
125 kHz

1
1
1
1
0
0
0
0

1
1
0
0
1
1
0
0

1
0
1
0
1
0
1
0

31 kHz

OSCCON Register

IRCF2

IRCF1

IRCF0

SCS

PIC16F887: Reglajul fin al oscilatorului intern

OSCTUNE

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

Features

TUN4

TUN3

TUN2

TUN1

TUN0

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

TUN4-0 - Frequency Tuning bits. By combining these five bits,

the 8MHz oscillator frequency shifts. In this way, the frequencies
obtained by its division in the postscaler shift too. Modifications
in the OSCTUNE register affect the HFINTOSC frequency, but
not the LFINTOSC frequency.

Legend
Bit is unimplemented
Readable/Writable bit
After reset, bit is cleared

TUN3

TUN2

TUN1

TUN0

Frequency

Maximal

CPU

OSC.
FSCM

R/W
(0)

TUN4

HFINTOSC

31 kHz
(32uS)

1/64

488 Hz
(2mS)

LFINTOSC
OSCCON

Fail-Safe Clock Monitor

Calibrated

Minimal

PIC16F887: exemplu de conectare al unui cristal cu cuart

5 VDC

1
11
32

13

20 MHz

14

33 pF

33 pF

12
31

PIC
16F877

PIC16F887: porturile I/O

MICROCONTROLLER
0

TRISA (B, C, D, E)

CPU
PORTA (B, C, D, E)

Pins
5V

TTL

5V

Sensor

PIC16F887: setarea modului analogic sau digital

ANSEL

ANSELH

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

Features

ANS7

ANS6

ANS5

ANS4

ANS3

ANS2

ANS1

ANS0

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

Features

ANS13

ANS12

ANS11

ANS10

ANS9

ANS8

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

The ANSEL and ANSELH registers are used to configure the input mode
of an I/O pin to analog or digital.
To configure a pin as an analog input, the appropriate bit of the ANSEL or
ANSELH registers must be set (1). To configure a pin as a digital input/
output, the appropriate bit must be cleared (0).

Legend
R/W
(1)

Bit is unimplemented
Readable/Writable bit
After reset, bit is set

The state of the ANSEL bits has no influence on digital output functions.
The result of any attempt to read a port pin configured as an analog input
will be 0.

Output

PORT

Input
0

A/D,
C1, C2

ANSEL

0
1

TRIS

Pin

PIC16F887: portul A
PORTA

TRISA

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

RA7

RA6

RA5

RA4

RA3

RA2

RA1

RA0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

TRISA7

TRISA6

TRISA5

TRISA4

TRISA3

TRISA2

TRISA1

TRISA0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Port A is an 8-bit wide, bidirectional port. Bits of the TRISA and ANSEL
registers control the Port A pins. All Port A pins act as digital inputs/outputs.
Five of them can also be analog inputs (denoted by AN):
RA0 = AN0 (determined by the ANS0 bit of the ANSEL register)
RA1 = AN1 (determined by the ANS1 bit of the ANSEL register)
RA2 = AN2 (determined by the ANS2 bit of the ANSEL register)
RA3 = AN3 (determined by the ANS3 bit of the ANSEL register)
RA5 = AN4 (determined by the ANS4 bit of the ANSEL register)

ANSEL

Features

Bit name

Features

Bit name

Legend
R/W
(x)
(1)

Readable/Writable bit
After reset, bit is unknown
After reset, bit is set

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

Features

ANS7

ANS6

ANS5

ANS4

ANS3

ANS2

ANS1

ANS0

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

The ANSEL register are used to configure the input mode of an I/O pin to analog or digital.
To configure a pin as an analog input, the appropriate bit of the ANSEL register must be set (1). To configure a pin as a digital input/output,
the appropriate bit must be cleared (0).
The state of the ANSEL bits has no influence on digital output functions. The result of any attempt to read a port pin configured as an analog
input will be 0.

PIC16F887: portul B
PORTB

TRISB

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

RB7

RB6

RB5

RB4

RB3

RB2

RB1

RB0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

TRISB7

TRISB6

TRISB5

TRISB4

TRISB3

TRISB2

TRISB1

TRISB0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Port B is an 8-bit wide, bidirectional port. Bits of the TRISB and ANSELH
registers control the Port B pins. All Port B pins act as digital inputs/outputs.
Five of them can also be analog inputs (denoted by AN):
RB0 = AN12 (determined by the ANS12 bit of the ANSELH register)
RB1 = AN10 (determined by the ANS10 bit of the ANSELH register)
RB2 = AN8 (determined by the ANS8 bit of the ANSELH register)
RB3 = AN9 (determined by the ANS9 bit of the ANSELH register)
RB4 = AN11 (determined by the ANS11 bit of the ANSELH register)
RB5 = AN13 (determined by the ANS13 bit of the ANSELH register)

Features

Bit name

Features

Bit name

Legend
R/W
(x)
(1)

Bit is unimplemented
Readable/Writable bit
After reset, bit is unknown
After reset, bit is set

Each port B pin has an additional function related to some of the built-in peripheral units.

ANSELH

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

Features

ANS13

ANS12

ANS11

ANS10

ANS9

ANS8

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

The ANSELH register are used to configure the input mode of an I/O pin to analog or digital.

PIC16F887: portul B
WPUB

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

WPUB7

WPUB6

WPUB5

WPUB4

WPUB3

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

All the port B pins have built in pull-up resistors, which make them ideal
for connection to push buttons (keyboard), switches and optocouplers.
In order to connect these resistors to the microcontroller ports, the
appropriate bit of the WPUB register should be set.

R/W (1)

R/W (1)

R/W (1)

WPUB2 WPUB1
Bit 2

WPUB0

Bit 1

Features

Bit name

Bit 0

Legend
R/W
(1)

Readable/Writable bit
After reset, bit is set

Having a high level of resistance (several tens of kiloohms), these virtual

resistors do not affect pins configured as outputs, but serves as a useful
complement to inputs. As such, they are connected to the inputs of CMOS logic circuits. Otherwise, they would act as if they are floating due
to their high input resistance.

Pin with pull-up resistor

Pin without pull-up resistor

VCC

VCC

MCU

PORT B

PORT B

VCC

MCU

Digital output

PIC16F887: portul B

IOCB

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

IOCB7

IOCB6

IOCB5

IOCB4

IOCB3

IOCB2

IOCB1

IOCB0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Apart from the bits of the WPUB register, there is another bit affecting
the installation of all pull-up resistors, the RBPU bit of the OPTION_REG.
If enabled, each port B bit configured as an input may cause an interrupt
by changing its logic state. In order to enable pins to cause an interrupt,
the appropriate bit of the IOCB register should be set.
Thanks to these features, the port B pins are commonly used for checking
push buttons on the keyboard because they unerringly register any button
press. Thus, there is no need to scan these inputs all the time. When the
X, Y and Z pins are configured as outputs set to logic one (1), it is only
necessary to wait for an interrupt request which arrives upon any button
press. After that, by combining zeros and ones on these outputs it is
checked which push button is pressed.

Bit name

Legend
R/W
(0)

Readable/Writable bit
After reset, bit is cleared

1K

RB0

1K

RB1

1K

RB2

The RB0/INT pin is the only true external interrupt source. It can be
configured to react to signal raising edge (zero-to-one transition) or signal
falling edge (one-to-zero transition). The INTEDG bit of the OPTION_REG
register selects the appropriate signal.

Features

1K

RB3

The PIC16F887 does not have any special pins for programming (the
process of writing a program to ROM). Port pins, normally available as
general-purpose I/O pins, are used for this purpose. To be more precise,
it is about port B pins used for clock (RB6) and data transfer (RB7) during
program loading.

MCU

PIC16F887: porturile C si D

PORTC

TRISC

PORTD

TRISD

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

RC7

RC6

RC5

RC4

RC3

RC2

RC1

RC0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

TRISC7

TRISC6

TRISC5

TRISC4

TRISC3

TRISC2

TRISC1

TRISC0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

RD7

RD6

RD5

RD4

RD3

RD2

RD1

RD0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

TRISD7

TRISD6

TRISD5

TRISD4

TRISD3

TRISD2

TRISD1

TRISD0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Port D is an 8-bit wide, bidirectional port. Bits of the TRISD register

determine the function of its pins. A logic one (1) in the TRISD register
configures the appropriate port D pin as an input.

Legend
R/W
(x)
(1)

Bit is unimplemented
Readable/Writable bit
After reset, bit is unknown
After reset, bit is set

Features

Bit name

Features

Bit name

Features

Bit name

Features

Bit name

PIC16F887: portul E
PORTE

TRISE

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

R/W (x)

RE7

RE6

RE5

RE4

RE3

RE2

RE1

RE0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

TRISE7

TRISE6

TRISE5

TRISE4

TRISE3

TRISE2

TRISE1

TRISE0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Port A is an 8-bit wide, bidirectional port. Bits of the TRISE and ANSEL
registers control the Port E pins. All Port E pins act as digital inputs/outputs,
except the RE3 pin which is always configured as an input. Three pins can
also be analog inputs (denoted by AN):

Features

Bit name

Features

Bit name

Legend
R/W
(x)
(1)

Readable/Writable bit
After reset, bit is unknown
After reset, bit is set

RE0 = AN5 (determined by the ANS5 bit of the ANSEL register);

RE1 = AN6 (determined by the ANS6 bit of the ANSEL register);
RE2 = AN7 (determined by the ANS7 bit of the ANSEL register).

ANSEL

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

R/W (1)

Features

ANS7

ANS6

ANS5

ANS4

ANS3

ANS2

ANS1

ANS0

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

The ANSEL register are used to configure the input mode of an I/O pin to analog or digital.
To configure a pin as an analog input, the appropriate bit of the ANSEL register must be set (1). To configure a pin as a digital input/output,
the appropriate bit must be cleared (0).
The state of the ANSEL bits has no influence on digital output functions. The result of any attempt to read a port pin configured as an analog
input will be 0.

PIC16F887: conectarea unor butoane

5 VDC
10K
RESET

MCLR

void main() {
11
VDD
32
VDD

5 VDC

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

TRISB = 0x00;

// Set port B as input

RBPU = 0x00;

// Pull-up resistors enabled

WPUB1 = 1;

// Pull-up resistor is
// connected to the PORTB.1

K7 ... K0

RB7
RB6
RB5

PIC 16F877

RB4

13

20 MHz

RB2
RB1
RB0

39
38
37
36

35
34
33

void main() {
14

33 pF

OSC1

RB3

40

OSC2

10K
ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

33 pF
TRISB = 0b00001111; // Set pins 0-3 as inputs
// and pins 4-7 as outputs
12
VSS
31
VSS

PIC16F887: conectarea unor LEDuri

5 VDC
10K
RESET

MCLR

void main() {
11
VDD
32
VDD

8 x 330R
RB7
RB6
RB5

PIC 16F877

RB4

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

RB3
RB2
RB1
RB0

8 x LED

40

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

TRISB = 0x00;

// Set port B as output

PORTB = 0x00;

// Clear port B

do {
PORTB = ~PORTB;

// Invert values

39
38
37
36
35

Delay_ms(1000);

// 1 second delay

34

} while(1);

33

// Endless loop

PIC16F887: conectarea unei tastaturi 4x4

5 VDC
10K
RESET

MCLR

4x4 Keypad

11
VDD
32
VDD

RB7

RB6

PIC 16F877

RB5

13

20 MHz

39

38

37

RB3

36

35

OSC2
34

33 pF
RB0

33

4 x 2K2
12
VSS
31
VSS

OSC1

RB1

33 pF

A
RB4

RB2
14

40

PIC16F887: afisorul cu 7 segmente, anod comun

5 VDC

5 VDC
10K

CA

RESET

MCLR

11
VDD
32
VDD

8 x 330R
RB7
RB6
RB5

PIC 16F877

RB4

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

RB3
RB2
RB1
RB0

40

dp

39

38

37

36

35

34

33

A
F

B
G

C
D

DP

PIC16F887: afisorul cu 7 segmente, catod comun

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

8 x 330R
RB7
RB6
RB5

PIC 16F877

RB4

13

20 MHz
14

33 pF

OSC1

RB3
RB2
RB1
RB0

40

dp

39

38

37

36

35

34

33

A
F

C
D

OSC2

33 pF

12
VSS
31
VSS

B
G

CC

DP

PIC16F887: afisorul cu 7 segmente, CC, 4 elemente

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

8 x 330R
RB7
RB6
RB5

PIC 16F877

RB4

13

20 MHz
14

OSC1

RB3
RB2
RB1
RB0

40

dp

39

38

37

36

35

34

33

OSC2

4 x 10K
33 pF

33 pF

RC3
RC2
RC1

12
VSS
31
VSS

RC0

18
17
16
15
CC

CC

4 x BC107

CC

CC

PIC16F887: afisorul cu 7 segmente, CC, 8 elemente

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

5 VDC
8 x 10K
RB7

40

PIC 16F877

8 x BC107

13

20 MHz
14

OSC1

5 VDC

RB0

33

OSC2

4 x 10K
33 pF

33 pF

RC3
RC2
RC1

12
VSS
31
VSS

RC0

18
17
16
15
CC

CC

4 x BC107

CC

CC

PIC16F887: afisorul cu 7 segmente, CC, 8 elemente

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

5 VDC
8 x 10K
RB7

40

PIC 16F877

8 x BC107

13

20 MHz

OSC1

5 VDC

RB0

33

5 VDC
14

OSC2
VCC
RC2
RC1

12
VSS
31
VSS

8 x 10K

Y0

33 pF

RC0

17
16
15

C
B

74138

33 pF

A
Y7
G1

CC

CC

G2

8 x BC107

PIC16F887: afisorul cu 7 segmente, CC, 3 elemente

void main() {

void main() {

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

TRISB = 0x00;
TRISC = 0x00;

// Set port B as output

// Set port C as output

TRISB = 0x00;
TRISC = 0x00;

// Set port B as output

// Set port C as output

do {

PORTC = 0b00000001; // Select first digit

PORTB = 0x6D;
// Display symbol 5

PORTC = 0x01;
PORTB = 0x6D;
Delay_ms(100);

// Select first digit

// Display symbol 5
// Wait 100 ms

PORTC = 0x02;
PORTB = 0x06;
Delay_ms(100);

// Select second digit

// Display symbol 1
// Wait 100 ms

PORTC = 0x04;
PORTB = 0x5B;
Delay_ms(100);

// Select third digit

// Display symbol 2
// Wait 100 ms

0 b DP_G_F_E_D_C_B_A

} while(1);
}

A
F

A
B

G
E

G
C

A
B

E
DP

0b01101101 = 0x6D = 109

C
D

B
G

E
DP

0b00000110 = 0x06 = 6

C
D

DP

0b01011011 = 0x5B = 91

PIC16F887: comanda unui releu

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

PIC 16F877

1N4001

VCC

13

20 MHz
14

OSC1

Relay
2K2
RB0

33

BC337/338

OSC2

void main() {
33 pF

33 pF

12
VSS
31
VSS

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

TRISB = 0x00;

// Set port B as output

RB0_bit = 1;

// Set RB0

PIC16F887: comanda unui releu

5 VDC
10K
RESET

MCLR

void main() {
11
VDD
32
VDD

PIC 16F877

20 MHz
14

33 pF

OSC1

VCC
2K2
RB0

33

BC327/328

OSC2

33 pF

12
VSS
31
VSS

1N4001

13

Relay

ANSEL = 0x00;
ANSELH = 0x00;

// All pins as digital

TRISB = 0x00;

// Set port B as output

RB0_bit = 0;

// Clear RB0

D7

D6

D5

D2

D3

D4

D1

D0

RS

VEE

R/W

VSS

VDD

PIC16F887: ecranul LCD cu 2x16 caractere

Function

Pin

Name

Logic State

Ground

Vss

0V

Power supply

Vdd

+5V

Contrast

Control
of

Vee

RS

R/W

operating
6

Data/
commands

Backlight

Description

0 - Vdd

D0-D7 as cmd.

D0-D7 as data

Write data

Read data

Access disabled

Normal operating

From 1 to 0

Transfer to LCD
Bit 0 LSB

D0

0/1

D1

0/1

Bit 1

D2

0/1

Bit 2

10

D3

0/1

Bit 3

11

D4

0/1

Bit 4
Bit 5

12

D5

0/1

13

D6

0/1

Bit 6

14

D7

0/1

Bit 7 MSB

15

0 - Vdd

16

0V

PIC16F887: ecranul LCD cu 2x16 caractere

Command

RS

RW

D7

D6

D5

D4

D3

D2

D1

D0

Exec. time

Clear display

1.64ms

Cursor home

1.64ms

Entry mode set

I/D

40us

Display on/off control

40us

Cursor/Display shift

D/C

R/L

40us

Function set

DL

40us

Set CGRAM address

Set DDRAM address

DDRAM address

Read BUSY flag (BF)

BF

DDRAM address

Write CGRAM to DDRAM

D7

D6

D5

D4

D3

D2

D1

D0

40us

Read from CGRAM or DDRAM

D7

D6

D5

D4

D3

D2

D1

D0

40us

CGRAM address

40us
40us
-

I/D: 1 = Increment (by 1)

0 = Decrement (by 1)

R/L: 1 = Shift right

0 = Shift left

S:

1 = Display shift on
0 = Display shift off

DL: 1 = 8-bit interface

0 = 4-bit interface

D:

1 = Display on
0 = Display off

N:

1 = Display in two lines

0 = Display in one line

U:

1 = Cursor on
0 = Cursor off

F:

1 = Character format 5x10 dots

0 = Character format 5x7 dots

B:

1 = Cursor blink on
0 = Cursor blink off

D/C: 1 = Display shift

0 = Cursor shift

PIC16F887: ecranul LCD cu 2x16 caractere

LCD display contains three memory blocks:
DDRAM Display Data RAM used for storing characters to be displayed. The size of this memory is capable of storing
80 characters. Some memory locations are directly connected to the characters on display.
CGROM Character Generator ROM contains a standard character map with all characters that can be displayed on
the screen. Each character is assigned to one memory location.
CGRAM Character Generator RAM used for storing 5x8 pixels symbols defined by the user. CGRAM has 64 bytes.

DDRAM Memory
First Line Addresses: 00 - 27 hex.
00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27
40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27

LCD Display

Second Line Addresses: 40 - 67 hex.

PIC16F887: ecranul LCD cu 2x16 caractere

CGROM Memory

4 higher bits of address

0000

4 higher bits of address

xxxx0000

CG
RAM

(1)

xxxx0001

(2)

xxxx0010

(3)

xxxx0011

(4)

xxxx0100

(5)

xxxx0101

(6)

xxxx0110

(7)

xxxx0111

(8)

xxxx1000

(1)

xxxx1001

(2)

xxxx1010

(3)

xxxx1011

(4)

xxxx1100

(5)

xxxx1101

(6)

xxxx1110

(7)

xxxx1111

(8)

0001

0010

0011

0100

0101

0110

0111

1000

1001

1010

1011

1100

1101

1110

1111

PIC16F887: ecranul LCD cu 2x16 caractere

CGRAM Memory
CGRAM Memry
Registers
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13

0
0
0
1
1
1
0
0
0
0
1
0
0
0
1
0

1
0
1
0
0
0
1
0
1
0
1
0
0
1
1
0

0
1
1
0
0
0
1
0
0
1
1
0
1
0
1
0

1
0
1
0
0
0
1
0
1
0
1
1
0
0
1
0

0
0
0
0
0
1
0
0
0
0
1
0
0
0
1
0

38
39
3A
3B
3C
3D
3E
3F

0
1
0
0
1
0
0
1

1
0
1
0
1
0
1
0

1
0
1
1
1
1
0
0

1
0
1
0
1
0
1
0

0
1
0
0
1
0
0
1

LCD Display

First symbol in CGRAM memory

Symbol Address: 0000 0000

Second symbol in CGRAM memory

Symbol Address: 0000 0001

Eight symbol in CGRAM memory

Symbol Address: 0000 0111

PIC16F887: ecranul LCD cu 2x16 caractere

5 VDC
10K
RESET

MCLR
DATA LINES

11
VDD
32
VDD

CONTROL LINES

5 VDC

14

33 pF

34

2X16 LCD Display

OSC2

33 pF

12
VSS
31
VSS

D7

D6

D5

D2

D3

D4

D1

D0

33
RS

RB0

5K

35

VEE

RB1

36

VSS

20 MHz

OSC1

RB2

37

R/W

13

RB3

38

VDD

PIC 16F877

RB4

CONTRAST

RB5

PIC16F887: comunicatiile seriale

Comunicatiile seriale I2 C sunt utilizate pe distante scurte, iar leg

atura se face
prin dou
a fire: unul de date si altul de sincronizare (clock). MCU are rol de
master si poate adresa p
an
a la 112 dispozitive slave, cu viteze de 10 kbps, 100
kbps sau 3.4Mbps, la distante de maxim c
ativa metrii.

Comunicatiile seriale SPI au implementati p

an
a la patru conductori (uzual trei).
Unul este utilizat pentru receptia datelor, unul pentru trimiterea datelor, iar unul
pentru selectarea dispozitivului cu care se comunic
a. Are viteze de transfer mai
mari dec
at I2 C.

Comunicatiile seriale USART nu necesit

a semnal de ceas, dispozitivele oper
and
cu aceiasi vitez
a predefinit
a pentru a mentine sincronizarea. Permit viteze de
p
an
a la 1MBps.

PIC16F887: comunicatia seriala RS-232

The EUSART transmits and receives data using a standard non-return-to-zero (NRZ) format. This mode doesnt use clock
signal, while the format of data being transferred is very simple.
In telecommunication, a non-return-to-zero (NRZ) line code is a binary code in which 1's are represented by one significant
condition (usually a positive voltage) and 0's are represented by some other significant condition (usually a negative
voltage), with no other neutral or rest condition. The pulses have more energy than a RZ code.

0 0 0

Uni/Bipolar Non-Return-to-Zero
(e.g.: RS-232)

0 0 0

Non-Return-to-Zero Space
(e.g.: USB)

0 0 0

In idle state, data line has high logic level (1);

Each data transmission starts with the START bit which is always a zero (0);
Each data is 8- or 9-bit wide (the LSB bit is transferred first);
Each data transmission ends with the STOP bit which is always a one (1).

Idle State

STOP bit
START bit

H
L

8- or 9-bit data

Non-Return-to-Zero Inverted
(e.g.: USB)

Briefly, each data is transferred in the following way:

START bit

PIC16F887: comunicatia seriala RS-232

ADDEN=1

EUSART

EUSART 1

ADDEN=1

EUSART 2

ADDEN=1

EUSART 3

9-bit address

ADDEN=1

EUSART

EUSART 1

8-bit data

ADDEN=0

EUSART 2

ADDEN=1

EUSART 3

PIC16F887: transmisia seriala RS-232

CPU

TXIE

Interrupt

TXIF

TXREG

MSB

LSB

Pin
Control

RC6/TX pin

Register TSR

TXEN

SPEN

Fosc

TX9

1/n
n
TX9D

SPBRGH

BRG16

x4

+1

SPBRG

x16

x64

SYNC

1 x

0 0

BRGH

1 0

BRG16

1 0

TRMT

Baud Rate Generator

TXEN = 1 - EUSART transmitter is enabled by setting the TXEN bit of the TXSTA register.
SYNC = 0 - EUSART is configured to operate in asynchronous mode by clearing the SYNC bit of the TXSTA register.
SPEN = 1 - By setting the SPEN bit of the RCSTA register, EUSART is enabled and the TX/CK pin is automatically configured as an output. If this bit is simultaneously
used for some analogue function, it must be disabled by clearing the corresponding bit of the ANSEL register.

PIC16F887: receptia seriala RS-232

FERR

SPEN

CREN

OERR

RCIDL
RSR Register

RC7/RX pin

MSB

Pin
Control

Fosc

7-0

LSB

STOP

Synchronization

START

RX9

1/n
n

SPBRGH

BRG16

+1

SPBRG

x4

x16

x64

SYNC

1 x

0 0

BRGH

1 0

BRG16

1 0

RCREG Register
RX9D

FIFO
RCIF

Baud Rate Generator

x x x x x x x x

RCIE

CPU

Interrupt

CREN = 1 - EUSART receiver is enabled by setting the CREN bit of the RCSTA register;
SYNC = 0 - EUSART is configured to operate in asynchronous mode by clearing the SYNC bit stored in the TXSTA register;
SPEN = 1 - By setting the SPEN bit of the RCSTA register, EUSART is enabled and the RX/DT pin is automatically configured as an input. If this bit is simultaneously
used for some analogue function, it must be disabled by clearing the corresponding bit of the ANSEL register.

PIC16F887: comunicatia seriala RS-232

TXSTA

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R (0)

R (1)

R/W (1)

Features

CSRC

TX9

TXEN

SYNC

SENDB

BRGH

TRMT

TX9D

Bit name

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

CSRC - Clock Source Select bit - determines clock source. It is used only
in synchronous mode.
1 - Master mode. Clock is generated internally from Baud Rate Generator.
0 - Slave mode. Clock is generated from external source.

Legend
R/W
R
(0)
(1)

Readable/Writable bit
Readable bit
After reset, bit is cleared
After reset, bit is set

TX9 - 9-bit Transmit Enable bit

1 - 9-bit data transmission via EUSART system.
0 - 8-bit data transmission via EUSART system.
TXEN - Transmit Enable bit
1 - Transmission enabled.
0 - Transmission disabled.
SYNC - EUSART Mode Select bit
1 - EUSART operates in synchronous mode.
0 - EUSART operates in asynchronous mode.
SENDB - Send Break Character bit is only used in asynchronous mode
and when it is required to observe LIN bus standard.
1 - Break character transmission is enabled.
0 - Break character transmission is completed.

BRGH - High Baud Rate Select bit determines baud rate in

asynchronous mode. It does not affect EUSART in synchronous
mode.
1 - EUSART operates at high speed.
0 - EUSART operates at low speed.
TRMT - Transmit Shift Register Status bit
1 - TSR register is empty.
0 - TSR register is full.
TX9D - Ninth bit of Transmit Data can be used as address or
parity bit.

PIC16F887: comunicatia seriala RS-232

RCSTA

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R (0)

R (0)

R (x)

SPEN

RX9

SREN

CREN

ADDEN

FERR

OERR

RX9D

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

SPEN - Serial Port Enable bit

1 - Serial port enabled. RX/DT and TX/CK pins are automatically
configured as input and output, respectively.
0 - Serial port disabled.

Features

Bit name

Legend
R/W
R
(0)
(x)

Readable/Writable bit
Readable bit
After reset, bit is cleared
After reset, bit is unknown

RX9 - 9-bit Receive Enable bit

1 - Reception of 9-bit data via EUSART system.
0 - Reception of 8-bit data via EUSART system.
SREN - Single Receive Enable bit is used only in synchronous mode
when the microcontroller operates as master.
1 - Single receive enabled.
0 - Single receive disabled.
CREN - Continuous Receive Enable bit acts differently depending on
EUSART mode.
Asynchronous mode:
1 - Receiver enabled.
0 - Receiver disabled.
Synchronous mode:
1 - Enables continuous receive until the CREN bit is cleared.
0 - Disables continuous receive.

ADDEN - Address Detect Enable bit is only used in address

detect mode.
1 - Enables address detection on 9-bit data receive.
0 - Disables address detection. The ninth bit can be used as
parity bit.
FERR - Framing Error bit
1 - On receive, Framing Error is detected.
0 - No framing error.
OERR - Overrun Error bit
1 - On receive, Overrun Error is detected.
0 - No overrun error.
RX9D - Ninth bit of Received Data can be used as address or
parity bit.

PIC16F887: conectarea la portul serial RS-232

5 VDC
10K
RESET

MCLR

9
5

11
VDD
32
VDD

10 uF

13

20 MHz
14

10 uF

OSC1

C1+
V+

GND

C1-

T1OUT

C2+
C2V-

OSC2

T2OUT
R2N

33 pF

33 pF

12
VSS
31
VSS

10 uF
26
RX
25
TX

5 VDC
VCC

MAX 232

PIC 16F877

10 uF

R1IN
R1OUT
T1IN
T2IN
R2OUT

100 nF

PIC16F887: comunicatia SPI si I2 C

SPI
Processor 1

Master

Processor 2
1

Master
Slave

I2C
Processor 1

Master

Processor 2
1

Master
Slave

PIC16F887: comunicatia SPI

Selected peripheral
device to accomplish
SPI communication with

SS=0

Slave
SPI

SS=1

Slave
SPI

Slave
SPI

SCK

SDI

SDO

SS=1

SCK
SDI
SDO

SCK
SDI
SDO

Master
SPI

SCK
SDI
SDO

SSPBUF
SDO

SSPSR

SCK

SCK

SDI

SDO

SSPBUF

SSPSR

SCK

SDI

PIC16F887: comunicatia I2 C

Address 2

Master
(MCU)

SDA
SCL

C
EEPROM

Slave
Address 1

Slave
Address 2

Slave
Address 3

PIC16F887: comunicatia I2 C
Start - Address - Acknowledge - Data - Acknowledge ... Data - Acknowledge - Stop!

SCL
SDA

SCL
6 5 4 3 2 10

BYTE 1

ADDRESS

Acknowledge
Data Bit (1)

START Bit (0)

BYTE n-1

Acknowledge
Data Bit (1)

R/W 0 = WRITE

BYTE 1

Data Transfer Start

SDA

DATA n

1 = READ

ADDRESS

7 6 5 4 3 2 10

BYTE 2

BYTE 3

STOP Bit (1)

BYTE n-1

Data Transfer End

Once the first byte has been sent (only 8-bit data are transmitted), master goes into receive mode and waits
for acknowledgment from the receive device that address match has occurred. If the slave device sends
acknowledge data bit (1), data transfer will be continued until the master device (MCU) sends the Stop bit.

PIC16F887: comunicatia 1-Wire

The master device starts a transmission with a "reset" pulse, which pulls the wire to 0 volts for 480 s. This resets
every slave device on the bus by depriving them all of power. After that, any slave device, if present, shows that it
exists with a "presence" pulse: it holds the wire to ground for at least 60 s after the master releases the bus.
0us

64us

128us

192us

1-wire output

256us

320us

384us

448us

512us

576us

640us

reset
device response

1-wire input
input sample time

1 Wire Reset Procedure

To send a "1", the bus master software sends a very brief (1-15 s) low pulse.
To send a "0", the software sends a 60 s low pulse.
1.024ms

960us

1-wire output

LSB, 1

1.088ms

1.152ms

1.216ms

1.280ms

1.344ms

1.408ms

1.472ms

MSB, 0

1-wire input
input sample time

Send Byte x33 (b00110011)

1.536ms

1.600ms

1.664ms

1.728ms

1.792ms

1.856ms

1.920ms

1.984ms

2,048ms

1-wire output
1-wire input

input sample time

Read Result (first byte x33)

The falling (negative) edge of the pulse is used to start a monostable multivibrator in the slave device.
The multivibrator in the slave clocks to read the data line about 30 s after the falling edge. Due to timing accuracy,
which is why the output pulses have to be 60 s long, and the starting pulse can't be longer than 15 s.

PIC16F887: comunicatia SPI

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

PIC 16F877

5 VDC

13

20 MHz
14

33 pF

Slave 1

OSC1

OSC2

33 pF

12
VSS
31
VSS

18
SCL
23
SDA

Addr #2

Addr #3

10K

10K

Addr #1

SCL
SDA

Slave 2
SCL
SDA

Slave 3
SCL
SDA

PIC16F887: comunicatia I2 C
5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

RB2
RB1

34
33

PIC 16F877

RB0

35

13

20 MHz
14

33 pF

SS

Slave 1

OSC1

OSC2

33 pF

12
VSS
31
VSS

24
SDO
23
SDI

SCK

18

SDI
SDO

SCK

SS

Slave 2
SDI
SDO

SCK

SS

Slave 3
SDI
SDO

SCK

PIC16F887: senzor de distanta SPI

5 VDC

SRF10 Commands
10K

RESET

MCLR

11
VDD
32
VDD

Decimal

Hex

80

0x50

Ranging Mode - Result in inches

81

0x51

Ranging Mode - Result in cm

Action

82

0x52

Ranging Mode - Result in ms

160

0xA0

1st in sequence to change I2C address

165

0xA5

2nd in sequence to change I2C address

170

0xAA

3rd in sequence to change I2C address

5 VDC
PIC 16F877

unsigned short Range;

13

20 MHz
14

33 pF

SRF10

OSC1

OSC2

33 pF

12
VSS
31
VSS

void main() {

10K

10K

+5V

18
SCL
23
SDA

SCL
SDA

GND

Address:
0xE0

ANSEL = 0x00;
ANSELH = 0x00;

// All ports as digital

I2C1_Init(100000);
I2C1_Start();
I2C1_Wr(0xE0);
I2C1_Wr(0x52);
Delay_100ms();
Range = I2C1_Read(0);
I2C1_Stop();

//
//
//
//

Init I2C comm.

Issue I2C start
Send address
Send command

// Read data
// Issue I2C stop

PIC16F887: comunicatia 1-Wire

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

5 VDC

PIC 16F877

5 VDC

13

20 MHz

Addr #1

33 pF

OSC2

33 pF

12
VSS
31
VSS

Addr #3
VDD

10K

VDD

Slave 1

OSC1
RB0

14

Addr #2

VDD

33

Slave 2
D

GND

Slave 3
D

GND

GND

PIC16F887: comunicatia PS/2

4

1: Clock
2: GND
3: Data
4: N/C
5: +5V
6: N/C

2
6

2
435

PS/2 Connector

1: Clock
2: Data
3: N/C
4: GND
5: +5V

5 Pin DIN Connector

Keyboard to Host
Idle

Clock
Keyboard/Mouse
Idle

Data

Host
Start

0 1

2 3 4 5 6 7 P

Stop

Host to Keyboard
Idle

Clock
Keyboard/Mouse
Idle

Data

Host

0 1

2 3 4 5 6 7 P

ACK

PIC16F887: comunicatia PS/2

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

PIC 16F877

5 VDC

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

33
RB0
34
RB1
RB2
RB3

12
VSS
31
VSS

35
36

10K

10K

+5V

PS/2
Device
Data
Clock

GND

PIC16F887: convertorul analog/numeric (ADC)

Pins

AVdd

CVref
Vref

0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1

0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1

0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1

0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1

AVss

0
1

VCFG0

VCFG1

ADFM

ADC
GO/DONE

ADON
ADRESH

GND
CHS3

CHS2

CHS1

Justified

CHS0

ADCON1 Register

ADRESL

PIC16F887: convertorul analog/numeric (ADC)

ADCON0

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

R/W (0)

ADCS1

ADCS0

CHS3

CHS2

CHS1

CHS0

GO/DONE

ADON

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Legend
R/W
(0)

Readable/Writable bit
After reset, bit is cleared

ADSC1 ADCS0
0

Clock
Fosc/2

Fosc/8

Fosc/32

ADCS1, ADCS0 - A/D Conversion

Clock Select bits select clock
frequency used for internal synchronization
of A/D converter. It also affects duration
of conversion.

CHS3-CHS0 - Analog Channel Select

bits select a pin or an analog channel for
A/D conversion, i.e. voltage measurement.
1

RC

Features

Bit name

CHS3

CHS2

CHS1

CHS0

Channel

Pin

RA0/AN0

RA1/AN1

RA2/AN2

RA3/AN3

RA4/AN4

RE0/AN5

RE1/AN6

RE2/AN7

RB2/AN8

RB3/AN9

GO/DONE - A/D Conversion Status bit determines current status of

conversion.

10

RB1/AN10

11

RB4/AN11

1 - A/D conversion is in progress.

0 - A/D conversion is complete. This bit is automatically cleared by
hardware when the A/D conversion is complete.

12

RB0/AN12

13

CVref

Vref = 0.6V

ADON - A/D On bit enables A/D converter.

1 - A/D converter is enabled.
0 - A/D converter is disabled.

RB5/AN13

PIC16F887: convertorul analog/numeric (ADC)

R/W (0)

ADCON1

R/W (0)

R/W (0)

ADFM

VCFG1

VCFG0

Features

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Legend

ADFM - A/D Result Format Select bit

1 - Conversion result is right justified. Six most significant bits of the
ADRESH are not used.
0 - Conversion result is left justified. Six least significant bits of the
ADRESL are not used.
ADRESH

R/W
(0)

Bit is unimplemented
Readable/Writable bit
After reset, bit is cleared

ADRESL
VCC + 0.3V

000000
7

Bit name

VCC (+5V)

Right justified
1

VREF +

10 - bit result (ADFM=1)

VREF + 2V

4
3

VCC - 2.5V

ADRESH

ADRESL

2
VREF+ -2V

000000
7

Left justified

10 - bit result (ADFM=0)

VREF GND - 0.3V

Analog Input
Voltage Vin

Vin
GND (0V)
GND - 0.3V

VCFG1 - Voltage Reference bit selects negative voltage reference source needed for the operation of A/D converter.
1 - Negative voltage reference is applied to the Vref- pin.
0 - Power supply voltage VSS is used as negative voltage reference source.
VCFG0 - Voltage Reference bit selects positive voltage reference source needed for the operation of A/D converter.
1 - Positive voltage reference is applied to the Vref+ pin.
0 - Power supply voltage VDD is used as positive voltage reference source.

PIC16F887: masurarea unei tensiuni

5 VDC
10K
RESET

MCLR
4
AN2
5
VREF+

PIC 16F877

11
VDD
32
VDD

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

5 VDC

5 VDC

PIC16F887: masurarea variatiei luminii

5 VDC
5 VDC

5 VDC

10K
RESET

R1

MCLR

11
VDD
32
VDD

4
AN2
5
VREF+

5 VDC

PIC 16F877

R2

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

R2

R1

PIC16F887: masurarea distantei

5 VDC

Sharp GP2D12 (10cm to 100cm)

IR Sensor Value (V)

600

10K
5 VDC
RESET

MCLR

11
VDD
32
VDD

4
AN2
5
VREF+

5 VDC

500
400
300
200
100
0
0

10

20

30

40

50

60

70

80

90

100

Range (cm)

PIC 16F877

Sharp GP2D12

13

20 MHz
14

33 pF

OSC1

Range =

4187.8
( IRValue
)

1.106

= (6787 / (IRValue - 3)) - 4

unsigned int IRValue;

float Range;
void main() {

OSC2

ANSEL = 0x04;
ANSELH = 0x00;

33 pF

12
VSS
31
VSS

// AN2 pin as analog

// Other pins as digital

TRISA = 0xFF;

// Port A as input

IRValue = ADC_Read(2);

// Read value from AN2

Range = (6787/(IRValue-3))-4;
Range = pow(4187.8/IRValue,1.106);
}

PIC16F887: tipuri de motoare pas-cu-pas

Variable reluctance stepper motor

Permanent magnet stepper motor

A+

A+

A-

B+

D-

B+

B-

CThe rotor is not a permanent magnet. This type of construction

is good in non industrial applications that do not require a high
degree of motor torque, such as the positioning of a micro slide.

Red

The rotor is a permanent magnet. It is a relatively low speed,

low torque device. Its simple construction and low cost makes
it an ideal choice for non industrial applications, such as a line
printer print wheel positioner.

Red

Red
R/W

Black
Yellow

4 Lead Unifilar Motor

6 Lead Unifilar Motor

O/W

Orange

B/W

Black

G/W

White

Y/W
Green

Orange

R/W
Black

Yellow

C+

A-

D+

C+

8 Lead Unifilar Motor

PIC16F887: comanda motorului pas-cu-pas

Single Phase

A+
B+
AB-

Hold & running torque reduced by 39%

Poor step accuracy

Dual Phase

A+
B+
AB-

High torque
Good step accuracy

Half Phase

A+
B+
AB-

Poor step accuracy

Half stepping

PIC16F887: comanda motorului pas-cu-pas bipolar

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

Bipolar Stepper Motor

Darlingtons

RB1
RB2

PIC 16F877

RB3

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

33
34
35
36

1B

1C

2B

2C

3B

3C

4B
5B
6B
7B
GND

ULN2003A

RB0

A+
AB+

4C
5C
6C
7C
COM

VCC

B-

PIC16F887: comanda motorului pas-cu-pas unipolar

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

Unipolar Stepper Motor

Darlingtons

RB1
RB2

PIC 16F877

RB3

13

20 MHz
14

33 pF

OSC1

OSC2

33 pF

12
VSS
31
VSS

33
34
35
36

1B

1C

2B

2C

3B

3C

4B
5B
6B
7B
GND

ULN2003A

RB0

A+
AB+

4C
5C
6C
7C
COM

VCC

B-

PIC16F887: puntea H
Puntea H cu comutatoare
VSS

Puntea H cu tranzistori bipolari

VSS

Puntea H cu tranzistori MOS FET

VSS

Q3

Q1
S1

DC Motor

S3

Q1

Q3

DC Motor

D1

D2

Q2
S2

S4

Q2

S2

S3

S4

Result

1
0
0
1
0

0
1
0
0
1

0
1
0
1
0

1
0
0
0
1

Motor moves forward

Motor moves reverse
Motor free runs
Motor brakes
Motor brakes

D4

Q4

Q4

VSS

S1

D3

DC Motor

S1

DC Motor

VSS

S3

S1

S2

DC Motor

S3

S4

S2

S4

PIC16F887: puntea H

Puntea H cu patru faze

Puntea H cu dou faze

VSS

VSS

D1

DC Motor

D2

D1

DC Motor

D2

D4

D3

D4
D

D3
D

Result

Result

1
0
0
1
0

0
1
0
0
1

0
1
0
1
0

1
0
0
0
1

Motor moves forward

Motor moves reverse
Motor free runs
Motor brakes
Motor brakes

0
0
1
1

0
1
0
1

0
1
0
0

0
0
1
1

0
0
1
0

0
1
0
1

Motor free runs

Motor moves forward
Motor moves reverse
Motor brakes

PIC16F887: comanda unei punti H cu semnal PWM

5 VDC
K=
V average
t

Pulse width
Period

V average = K VDC
5 VDC
V average
t

0
5 VDC

V average
t

0
Pulse width
Period

V motor = K VSS

Speed K = K speed MAX

(duty cycle)

PIC16F887: comanda unui motor de c.c. cu driver

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

Push-pull driver 5 VDC

PIC 16F877

RD5

13

20 MHz
14

RB1

17

DC Motor

IN2

34

EN1

OUT1
OUT2

VSS
GND

OSC1

VS

OSC2

EN1 IN1 IN2

33 pF

VSS

IN1

28

L293D

RC2

33 pF

12
VSS
31
VSS

1
1
1
1
0

0
1
1
0
X

1
0
1
0
X

Result
Motor moves forward
Motor moves reverse
Motor brakes
Motor brakes
Motor free runs

PIC16F887: comanda unui motor de c.c. cu punte H

5 VDC
10K
RESET

MCLR

11
VDD
32
VDD

5 VDC

H-bridge

PIC 16F877

RD5

13

20 MHz
14

RB1

17

DC Motor

In2

34

EnA

OUT1
OUT2

VSS
GND

OSC1

VS

OSC2

EnA In1
33 pF

VSS

In1

28

L298N

RC2

33 pF

12
VSS
31
VSS

1
1
1
1
0

0
1
1
0
X

In2
1
0
1
0
X

Result
Motor moves forward
Motor moves reverse
Motor brakes
Motor brakes
Motor free runs

PIC16F887: codoare rotative de turatie

A rotary encoder, also called a shaft encoder, is an electro-mechanical device that converts the angular position of a shaft
or axle to an analog or digital code, making it an angle transducer. There are two types: absolute and incremental (relative).

A. Absolute digital shaft encoders produce a unique digital code for each
distinct angle of the shaft.
3-bit binary code encoder

Clockwise rotation

B. Incremental digital shaft encoders have

has two outputs called quadrature outputs.

3-bit Gray code encoder

Counter-clockwise rotation

Phase

Phase

Incremental Gray code encoder

A
B
Index

A
B
Phase

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

Exemplu: codoarele rotative ale unui mouse

PIC16F887: comanda unui servo

Impulsuri PWM pentru comanda unui servo
ti

5V

-60 .. 60
20 ms
-60

ti =1,5 ms

ti =2,1 ms

60

DC MOTOR

Gearbox

ti =0,9 ms

Output

Position
Sensor

Error Amp

Pulse width to voltage

converter

Control Pulse

Programarea unui microcontroller

Limbaje de programare
Limbaj cod masin
a: instructiunile sub form
a binar
a care sunt executate de c
atre
microcontroller, organizate sub forma a 12, 14 sau 16 biti, n functie de arhitectura
MCU. Ca fisier, poate fi reprezentat sub form
a hexazecimal
a (*.hex).

PC
Bin
Program
memory

CPU

0 10 10 0 10 10 0 1 1 1
10 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 10 1 10 10 0 10 10 1
0 0 10 0 0 10 10 10 1 1
10 0 10 0 1 10 10 0 10
0 0 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 0 10 0 1 10 10 0 10 1

Program execution

10101010101010101
110100011101011000
1011011101101010
10100101010111100
101011100101011111
001010101101010001
00010101010101011
011101100101101111
10101011010100101
0FA0012316
0101010110100010

Hex

34BC212113
01BA6F4A21
123A1BAD5

Executive code in binary

and hexadecimal format

Limbaje de programare
Limbaj de asamblare: instructiunile sunt scrise sub forma unor abrevieri, fiind
apropiate de limbajul cod masin
a (*.asm).
Pentru a fi transformate, este necesar un compilator.

Programming
microcontroller

Program
memory

CPU

0 10 10 0 10 10 0 1 1 1
10 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 10 1 10 10 0 10 10 1
0 0 10 0 0 10 10 10 1 1
10 0 10 0 1 10 10 0 10
0 0 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 0 10 0 1 10 10 0 10 1

Program execution

PC

Program
compilation

Bin
10101010101010101
110100011101011000
1011011101101010
10100101010111100
101011100101011111
001010101101010001
00010101010101011
011101100101101111
10101011010100101
0FA0012316
0101010110100010

Hex

34BC212113
01BA6F4A21
123A1BAD5

Executive code in binary

and hexadecimal format

Assembly
language
Increment
incf
movf
movwf
goto

cnt, f
cnt, w
PORTB
Loop

Decrement
decf
movf
movwf
goto

cnt, f
cnt, w
PORTB
Loop

Limbaje de programare
Cod C: instructiunile sunt exprimate sub forma unui limbaj apropiat de limbajul uman
(limbaj de programare de nivel nalt) (*.c).
Transformarea se face cu ajutorul unui compilator care, spre deosebire de compilatorul
de cod assembler, nu ofer
a ntotdeauna codul optim (cel mai scurt).

Programming
microcontroller

Program
memory

CPU

0 10 10 0 10 10 0 1 1 1
10 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 10 1 10 10 0 10 10 1
0 0 10 0 0 10 10 10 1 1
10 0 10 0 1 10 10 0 10
0 0 0 1 1 10 10 1 10 1 1
10 10 1 10 0 10 1 10 0
0 0 10 0 1 10 10 0 10 1

Bin
10101010101010101
110100011101011000
1011011101101010
10100101010111100
101011100101011111
001010101101010001
00010101010101011
011101100101101111
10101011010100101
0FA0012316
0101010110100010

C programming language
void main() {
USAR_Init(19200);

Hex

ANSEL = 0x04;
TRISA = 0xFF;
ANSELH = 0;

34BC212113
01BA6F4A21
123A1BAD5

// Initialize USART
// Configure AN2 pin as
// Configure AN pin as

do {
temp_res = ADC_Read(2) >> 2;
USART_Write(temp_res);
Delay_ms(1000);
} while(1);
// Endless loop

Executive code in binary

and hexadecimal format
}

Program execution

PC

Program
compilation

Structura unui program n ASM

HEADER

;*************************** INITIAL DIRECTIVES ****************************

list
#include

p=16f887
<p16f887.inc>

; Type of microcontroller
; Defines all SFRs
; and bits within the PIC16F887

;***************************************************************************

;****************************** CONFIG WORD ********************************

__CONFIG
_CONFIG1, _HS_OSC & _WDT_OFF & _PWRTE_ON & _MCLRE_ON & _CP_OFF
& _CPD_OFF & _BOR_ON & IESO_ON & FCMEN_ON & _LVP_OFF & _DEBUG_OFF
__CONFIG
_CONFIG2, _BOR40V & _WRT_OFF
;***************************************************************************

;*************************** DEFINING VARIABLES ****************************

PROGRAM

cblock
var1
var2
var3
endc

0x20

;
;
;
;

Block of
Variable
Variable
Variable

variables
var1 at
var2 at
var3 at

start at address 20h

address 20h
address 21h
address 22h

;***************************************************************************

;**************************** START OF PROGRAM *****************************

org
goto

0x0000
main

; Address of the first program instruction

;*************************** INTERRUPT ROUTINE *****************************

org
...
retfie

0x0004

; Address of the interrupt routine

; Instructions
; Return from interrupt routine

;****************************** MAIN PROGRAM *******************************

main
...
end

; Start of program
; Instructions
; End of program

;***************************************************************************

Structura unui program n C

PROGRAM

;*************************** DEFINING VARIABLES ****************************

int k = 0;
char text;
;*************************** INTERRUPT ROUTINE *****************************
void interrupt {
...
}

; Instructions

;****************************** MAIN PROGRAM *******************************

void main {
...
}

; Instructions

;***************************************************************************

Etapele crearii unui program n C

void main() {
TRISB = 0;
PORTB = 0b01010101;

// All port B pins are configured as

// outputs
// Logic state on port B pins

Program written in C

; ADDRESS
OPCODE
ASM
; -------------------------------------------$0000
$2804
GOTO
_main
$0004
$
_main:
;Test.c,1 :: void main() {
;Test.c,3 :: TRISB = 0;
// All port B pins
$0004
$1303
BCF
STATUS, RP1
$0005
$1683
BSF
STATUS, RP0
$0006
$0186
CLRF
TRISB, 1
;Test.c,4 :: TRISB = 0b01010101; // Logic state
$0007
$3005
MOVLW 85
$0008
$1283
BCF
STATUS, RP0
$0009
$0086
MOVWF PORTB
;Test.c,5 :: }
$000A
$280A
GOTO
$

Compiled program (ASM code)

:100000000428FF3FFF3FFF3F03138316860155304F
:10001000831286000A28FF3FFF3FFF3FFF3FFF3F5D
:04400E00F22FFFFF8F
:00000001FF

Executable code of the program (HEX code)

Tipuri de date
Tipuri de date f
ar
a prefix
Tip de date

Descriere

Num
ar de biti

Interval de valori

char
int
float

Character
Integer
Floating point

8
16
32

double

Double precision
floating point

32

0 .. 255
-32768 .. 32767
1.17549435082 1038 ..
.. 6.80564774407 1038
1.17549435082 1038 ..
.. 6.80564774407 1038

Tipuri de date cu prefix

Tip de date

Tip de date cu prefix

Num
ar de biti

Interval de valori

char
int

signed char
unsigned int
short int
signed short int
long int
signed long int

8
16
8
8
32
32

-128 .. 127
0 .. 65535
0 .. 255
-128 .. 127
0 .. 4294967295
-2147483648 .. 2147483647

char ? int ? long ? float ? double

Low priority

High priority

Data Types