embedded computing and mechatronics with the pic32...

AnintroductiontoMicrochip’sPIC32microcontrolleranditsuseinembeddedcomputingandmechatronics

KEYFEATURES• Extensive,freelydownloadablesamplecodefortheNU32developmentboard

incorporatingthePIC32MX795F512Hmicrocontroller• FreeonlineinstructionalvideostosupportmanyofthechaptersDESCRIPTIONFor the first time in a single reference, this book provides the beginner with acoherent and logical introduction to the hardware and software of the PIC32,bringing together key material from the PIC32 ReferenceManual, Data Sheets,XC32CCompilerUser'sGuide,AssemblerandLinkerGuide,MIPS32CPUmanuals,and Harmony documentation. This book also trains you to use the Microchipdocumentation,allowingbetter life-long learningof thePIC32.Thephilosophy istogetyoustartedquickly,buttoemphasizefundamentalsandtoeliminate"magicsteps"thatpreventadeepunderstandingofhowthesoftwareyouwriteconnectstothehardware.Applicationsfocusonmechatronics:microcontroller-controlledelectromechanicalsystems incorporating sensors and actuators. To support a learn-by-doingapproach, you can follow the examples throughout the book using the samplecodeandyourPIC32developmentboard.Theexercisesattheendofeachchapterhelpyouputyournewskillstopractice.ThematerialinthisbookhasbeentestedandrefinedoverseveralyearsofuseastheprimaryreferenceforthemechatronicssequenceatNorthwesternUniversity.

Coverageincludes:• ApracticalintroductiontotheCprogramminglanguage• GettingupandrunningquicklywiththePIC32• AnexplorationofthehardwarearchitectureofthePIC32anddifferencesbetweenPIC32

families• FundamentalsofembeddedcomputingwiththePIC32,includingthebuildprocess,time-and

memory-efficientprogramming,andinterrupts• Aperipheralreference,withextensivesamplecodecoveringdigitalinputandoutput,

counter/timers,PWM,analoginput,inputcapture,watchdogtimer,andcommunicationbytheparallelmasterport,SPI,I2C,CAN,USB,andUART

• AnintroductiontotheMicrochipHarmonyprogrammingframework• Essentialtopicsinmechatronics,includinginterfacingsensorstothePIC32,digitalsignal

processing,theoryofoperationandcontrolofbrushedDCmotors,motorsizingandgearing,andotheractuatorssuchassteppermotors,RCservos,andbrushlessDCmotors

EmbeddedComputingandMechatronicswiththePIC32MicrocontrollerKevinLynchNorthwesternUniversity,USANicholasMarchukNorthwesternUniversity,USAMatthewElwinNorthwesternUniversity,USA

ISBN:978-0-12-420165-1PUBINFO:Elsevier/Newnes,December2015LISTPRICE:$69.95FORMAT:PaperbackPAGES:c.625TRIM:7.5wx9.25hAUDIENCE:Universitycourses,students,professionalsandhobbyists

TABLEOFCONTENTSPart1:Quickstart

01 QuickstartPart2:Fundamentals

02 Hardware03 Software04 UsingLibraries05 TimeandSpace06 Interrupts

Part3:PeripheralReferenceFourteenchaptersondigitalI/O,counter/timers,outputcompare,analoginput,inputcapture,watchdogtimer,comparator,flashmemory,theMicrochipHarmonyframework,andcommunicationsuchasUART,SPI,I2C,CAN,USB,andparallelcommPart4:Mechatronics

21 Sensors22 DigitalSignalProcessing23 PIDFeedbackControl24 FeedbackControlofLED

Brightness25 BrushedPermanentMagnet

DCMotors26 GearingandMotorSizing27 DCMotorControl28 AMotorControlProject29 OtherActuators

Part5:AppendicesA. ACrashCourseinCB. CircuitsReviewC. OtherPIC32Models

Visithttp://nu32.orgforsamplecode,accompanyingonlinevideos,andorderinginformation

TheNU32PIC32MX795F512HDevelopmentBoardThecompanionboardforthebook

EmbeddedComputingandMechatronicswiththePIC32MicrocontrollerKevinM.Lynch,NicholasMarchuk,andMatthewL.Elwin

Newnes/Elsevier,December2015

Visithttp://nu32.orgforsamplecode,accompanyingonlinevideos,andorderinginformation

TheNU32TheNU32isaninexpensive60-pinDIP-compatibledevelopmentboard for the 64-pin surface mount PIC32MX795F512H. Itsprimary purpose is to break out the pins of the PIC32. It alsoincludes an FTDI FT231X USB-to-UART chip that allows simpleserial port communication over a USB cable with a programrunning on the host computer (e.g., a terminal emulator,MATLAB,Python,etc.). Theboard canbepowered standalonebythe included6Vwalladapterorbythehost’sUSBport. AnonboardbootloaderallowsprogrammingthePIC32usingonlyaUSBcable,withoutanexternalprogrammerdevice.AnonboardclockclockstheCPUat80MHz.Features• 80MHzMIPS32M4K32-bitCPU• 512KBflashand128KBRAM• ManydigitalI/Oandchangenotificationpins• Five16-bitcounter/timers• FivePWMand5inputcapturechannels• 1MHz10-bitanaloginput(multiplexedto16inputs)• SixUART,2CAN,3SPI,4I2C,1PMP,1USB,and1Ethernetmodules

• TwoLEDsandonepushbuttonavailableforuserprograms• 3.3Vand5Vregulatedvoltageoutputs•Mini-BUSBjacktoconnecttothehost•Micro-BUSBjackforUSBwithanotherdevice

What’sintheBox• TheNU32developmentboard,withsolderedheaderpins• A solderless prototypingbreadboard intowhich theNU32canbeinserted

• AUSBcableforprogrammingandcommunicationwiththehost

• A6VwallpowersupplySampleCodeExtensive freely downloadable and easily modified C samplecodedemonstratesmostof themajorfunctionsof thePIC32,includinguseoftheperipheralsandspecialfeaturesoftheCPUandtheXC32Ccompiler,suchasinterruptsandcodetimeandspaceefficiency.SampleBookChaptersFreelydownloadablebookchaptersallowtheNU32usertogetstarted quickly with the NU32, without purchasing the book.Thefreebookchaptersalso includeanextensive introductiontoprogrammingintheClanguage,acircuitsreview(usefulforinterfacing the PIC32 with sensors and actuators), and adescriptionofthetheoryofDCmotors.OnlineVideosThe online videos demonstrate many of the features of theNU32 (and the PIC32 generally), as well as its application inmechatronics projects involving sensors and actuators. Thevideosalsofacilitateflippingatraditionalclassroom.