8051 Interfacings Presentation From Basics To Hobby Robot

www.EmbeddedMarket.
com
Robot Controls using 8051
Presented by: Pratik Deshpande
www.EmbeddedMarket.com
Workshop Objective
Microcontroller, Arduino & Embedded Kits available at EmbeddedMarket.com Microcontroller Kits Available at www.DeccanRobots.com
www.DeccanRobots.com www.EmbeddedMarket.com
Understand the real world development using Microcontrollers Explore the features of microcontroller and use them in real life applications
Use 89V51RD2 microcontroller to control a Hobby Robot
Details of Workshop
Your Basic Preparation Interface 8051 with various circuits Use built-in features of 8051 Apply above said learning to control a hobby robot This workshop is to learn the control techniques. Mechanical aspects will not be discussed.
Microcontroller & Computer

Basic Parts of a Computer Processor Hard disk RAM Monitor Keyboard Mouse Ports
Microcontroller & Digital Circuits

Microcontroller has built in Processor Memory to Store Program Memory to Store Data Ports for Input & Outputs Flexible Multipurpose
Why to use a Microcontroller?

Why use Microcontroller instead of PC? Why use Microcontroller instead of Digital Circuits?
Products using Microcontroller

Embedded Vs IT Sector
Microcontroller is entry point to the Embedded Development Embedded is Hardware + Software IT is Software only Recent Global Economic downturn has less effect on Embedded Related companies
Lets get prepared

You should know: Internals of microcontrollers Writing programs to create application Programming languages Bits , Bytes and Address Binary, Decimal & Hexadecimal Numbers Details of Interface (Input / Output circuits) Built-in Features of Microcontroller
Lets get prepared

8051 Microcontroller AT89S51 AT89S52 P89V51RD2 Differs in Program memory Size Data Memory Size Certain built-in features
Lets get prepared

Internals of 89V51RD2 8 Bit processor 64 KB Flash (Memory to store program) 1 KB RAM (Memory to store data) Special Function Registers (SFR Used for Configuration of Built-in Features) 32 I/O Lines
Lets get prepared

Writing programs to create application

Assign value to a Port Read value from a Port Process input values Configure, Enable & disable Built-in Features
Lets get prepared

Programming languages For Microcontrollers

Human readable programming language
Assembly Language C Language Basic Language
Start:
JB P2.0,Start
JB P1.0,MakeItON SETB P1.0
Machine Code
Hex File
Assembler Software
:1000000020A0FD209004D2908002C290 30A0FD80FC :01001000EF00 :00000001FF www.EmbeddedMarket.com
Lets get prepared

Copy Hex File to Microcontroller

HEX File Programmer Device
Lets get prepared

Bits , Bytes and Address
MSB
1 0 1 0 1 0 1 0
LSB
Value 0th Bit 1 Byte
Binary = 10101010b Decimal = 170d Hexadecimal = AAh www.EmbeddedMarket.com
7th
Bit
Lets get prepared

Bits , Bytes and Address 02d 2Ah 220d 122d
128 Byte RAM
07h 06h 05h 04h 03h 02h 01h 00h
25d
10111001b
22h
22d
Lets get prepared

Details of Interface

(Input / Output circuits)
LED Interfacing Seven Segment Interfacing Reading Input from Switch Display text to LCD Drive DC Motor using L293D Drive Stepper Motor using ULN2803 Driver Relay using ULN2803 Send text to PC using RS232 Serial Communication Transmit Infrared Receive Infrared Signal
Lets get prepared

Built-in Features of Microcontroller Timer Counter Serial Communication Interrupts
Lets get prepared

Flash memory & Data memory Program is written in Assembly Language Assembler software converts it to HEX file Hex File is downloaded to Microcontroller via Programming Device Hex File is Stored in Microcontrollers Flash memory Variables used by this program are stored in Microcontrollers Data memory (RAM)
Time to See a Demo

Running LEDs Seven Segment Display showing Numbers 0 to 9
Are you prepared now?

By now you know Difference between microcontroller, PC and digital circuit Internals of microcontrollers Writing programs to create application Programming languages Bits , Bytes and Address Binary, Decimal & Hexadecimal Numbers Details of Interface (Input / Output circuits) Built-in Features of Microcontroller You have seen one demo
?
Are you prepared to learn How to write a program in Assembly Language?
Assembly Language
We will learn (Limited Scope to fit available time) Assigning Byte values Assigning Bit values Logical Operations on Bytes Logical Operations on Bits Rotate Values Increment & Decrement Values Direct Jumps Conditional Jumps For Bytes Calls Conditional Jumps For Bits
Assembly Language
Assigning & Copy Byte values MOV R0, #55h MOV A, R0 MOV A, #55h MOV 90h, A MOV 90h, #33h
Assembly Language
Assigning Bit values SETB 00h CLR 00h CPL 00h Copy Bit values MOV C, 00h MOV 00h, C
Assembly Language
Logical operations on Byte ANL A, R0 ANL A, 90h ANL A, #55h ANL 90h, A ANL 90h, #55h Same format applies for ORL XRL
Assembly Language
Logical Operations on Bits ANL C, 00h ORL C, 00h
Assembly Language
Rotate Values RL A 10101100
RR A 10101100
Assembly Language
Increment & Decrement values INC A INC R0 INC 00h DEC A DEC R0 DEC 00h
Assembly Language
Following types of commands will be covered during further demos Direct Jumps Conditional Jumps For Bytes Calls Conditional Jumps For Bits
Why 89V51RD2?
Reasons for selecting 89V51RD2 8051 compatible No expensive programmer device required Big Flash memory size to store large program hex Easily available
Free Gift & Purchase

Register yourself to www.EmbeddedMarket.com Facebook.com/EmbeddedMarket
PCB Design & Manufacturing

Email your schematics and get the price estimate for PCB Design & manufacturing Payment by DD Delivery by courier Delivery time 6-10 days Single & Double Side Designs Email ID: support@deccanrobots.com
Get, Set, Go
Lets begin the real learning Its time to write your First program To Glow One LED
CLR P1.0
To Glow alternate 4 LEDs ON and 4 LEDs OFF

MOV P1, #55h
Refer next slide for LED circuit. How to write this code? Where to write this code? How to convert it to HEX?
Get, Set, Go
LED Circuit on 89V51RD2 Starter Kit
8051IDE & FlashMagic

4 1 89V51RD2 COM1 2400 2 Check this
Select Hex File Start After Hardware Setup is ready
89V51RD2 Starter Kit

2 1 4 8 5
12 10 9 11
89V51RD2 Starter Kit

Connect Serial Cable
9-12V DC
Hardware Setup to Program

89V51RD2 Internals
64KB Flash memory 1KB Data RAM Special Function Registers 4 Ports
89V51RD2 Internals
Internal Memory Organization
Configuration Registers, Port Registers, Maths registers
Memory from 00h to 07h is also termed as R0 to R7 www.EmbeddedMarket.com
Memory to Store values of variables. e.g. Count is 12
89V51RD2 Internals
List of Special Function Registers (SFR) Math A, B Interrupt IE Timer Control TMOD, TCON Timer / Counter TH0, TL0, TH1, TL1 Serial Communication SCON, SBUF PORT P0, P1, P2, P3
89V51RD2 Pin details

+5V
P1
P0
P3
P2 Crystal GND www.EmbeddedMarket.com
Generate Delay using Timer

Crystal 11.0592 MHz

Crystal Frequency is 11.0592 MHz 1 Machine cycle = Crystal frequency/12 i.e. 12 clocks makes one machine cycle Machine cycle is time required to
Fetch instruction from Flash Memory + Execute the instruction
Every microcontroller has different Machine cycle time

How much time is require to fill this glass? Depends on Water Speed & Glass size

89V51RD2 has 3 Timers built-in They are Timer0, Timer1, Timer2 Lets use Timer0 to Generate a delay of approximate 1 second Timer0 is built-in feature of 89V51RD2 SFRs related to Timer0 are: TH0, TL0 (Call it as T0) TMOD TCON

Special Function register TH0 and TL0 is like empty glass Combined size of TH0 and TL0 is 16 Bits i.e. T0 is of 16 bit size Now you know the size of empty Glass Next Task is to calculate the Time required to fill these 16bits.

1 Machine cycle Frequency =11.0592MHz /12 = 0.9216 MHz
T=1/ F T (Time required for 1 machine cycle) =1/0.9216 =1.0850694 =1.085 Micro Seconds (Round Off)

In other words we can say that with 11.0592 MHZ Crystal Connected, Timers value will increment every 1.085 micro seconds. T0 is of 16 bit size, thus it can store 65536 drops of water. T0 will take 65536 x 1.085= 71106.56 Micro Sec Or 71.10 MiliSec to overflow

If we want to count 1 second then we have to overflow timer approximately 14 times. Because 1 sec = 1000 mili sec 1000 / 71.1 =14.06 = 14 times approx

Now lets configure the SFRs TMOD

Timer 1 7 6 5 4 3 Timer 0 2 1 0
Gate C/T M1 M0 Gate C/T M1 M0

TMOD register is divided into 2 identical parts. Bit M0 and M1 are used to set Mode of timer Bit C/T is used to specify if you want a timer or counter Gate Bit will allow you to use timer as stopwatch, i.e. timer will run only if externally a switch is pressed. Timer 1 7 6 5 4 3 Timer 0 2 1 0


What will be value of TMOD to generate 1 Second delay? Gate = 0 (We dont want a stop watch) C/T = 0 (We want timer, not counter) M1=0 (*) M0=1 (*) * M1=0 and M0=1 configures the Timer1 as 16bit timer. Other settings are 13 bit timer, 8 Bit timer, Split Timer. The 16 bit timer mode is most suitable for our application.

Now we have configured the Timer0 in 16bit timer mode We know that Timer0 must overflow 14 times to generate 1 second delay But how to Start the Timer?

Use SFR named TCON to start timer TR0 is used to start and stop the Timer0 Lets see our partial code now
7 6 5 4 3 2 1 0
TF1 TR1 TF0 TR0 IE1 IT1 IE0 IT0 Used for Timer Control

Partial Code to generate 1 Second delay MOV TMOD,#00000001b SETB TR0 Now how to monitor the 14 times overflow?

TF0 is set to 1 automatically as T0 Overflows after 71.1 mili sec Thus we should count 14 such overflows by monitoring TF0. See full code on the next page
7 6 5 4 3 2 1 0
TF1 TR1 TF0 TR0 IE1 IT1 IE0 IT0 Used for Timer Control

Delay: MOV R0,#14d Configure TMOD MOV TMOD,#00000001b Tstart: Start Timer0 SETB TR0 Loop: Wait for one Overflow JNB TF0,Loop Clear Overflow CLR TF0 Stop Timer CLR TR0 Do it for 14 Times DJNZ R0,Tstart RET

SETB P1.0 Start: LCALL Delay CPL P1.0 SJMP Start

Delay: MOV R0,#14d MOV TMOD,#00000001b Tstart: SETB TR0 Loop: JNB TF0,Loop CLR TF0 CLR TR0 DJNZ R0,Tstart RET
Read Switch Input

Read Switch Input

MOV P2,#00h Start: JB P1.0,Start CPL P2.0 Wait: JNB P1.0,Wait Sjmp Start
DC Motor Control
Try connecting DC Motor here
+ H H
OFF
H L
CLK
L L
ANTI OFF CLK
- +
Lets now control it using 89V51RD2 Microcontroller www.EmbeddedMarket.com
DC Motor Control
L293D DC Motor Driver Circuit
DC Motor Control
Refer source Code
Seven Segment Display


Board mapping on the next screen. Refer source code
8 9 V 5 1 R D 2

Stepper Motor Driver

Demonstrated using MITSUMI Make Stepper Motor M35SP-8 Step Angle 7.5o Thus requires 360/7.5 = 48 Steps to complete one full rotation. Stepper motors are used for their accuracy. Stepper motors have no Speed or RPM parameter Most common use is in CNC machines

+V
B1
A1
B1
A1

+V
A
ON
B1
OFF
ON
B
A B A1 B1
OFF
A1
1 www.EmbeddedMarket.com1 0 0

+V
A
OFF
B1
OFF
ON
B
A B A1 B1
ON
A1

+V
A
OFF
B1
ON
OFF
B
A B A1 B1
ON
A1

+V
A
ON
B1
ON
OFF
B
A B A1 B1
OFF
A1

VCC

Refer Source code
Interrupts
Interrupts
An interrupt is some event which interrupts normal program execution

Normal Program Running | Interrupt Received | Normal Program Halted | Sub-Routine Executed as expected by the Interrupt | Normal Program Continues
Interrupts
This subroutine, called an interrupt handler, is only executed when a certain event (interrupt) occurs. Types of interrupts Timer 0 Overflow. Timer 1 Overflow. Timer 2 Overflow Reception/Transmission of Serial Character. External Event 0. External Event 1.
External Interrupt
This subroutine must be written at specific flash memory address.

External 0 at Program memory address 0003h External 1 at Program memory address 0013h Timer 0 at Program memory address 000Bh Timer 1 at Program memory address 001Bh Serial Tx/Rx at Program memory address 0023h
External Interrupt
How to Enable Interrupt

7 EA 6 5 4 3 2 1 0
ES ET1 EX1 ET0 EX0
IE
EA: All interrupt enable ES: Enable Serial Interrupt ET1: Enable Timer 1 Interrupt EX1: Enable External 1 Interrupt ET0: Enable Timer 0 Interrupt
EX0: Enable External 0 Interrupt

External Interrupt
Refer Source Code
P3.2
Counter
TMOD
Timer 1
MOV TMOD,#00000101b
Timer 0
P3.4
TCON
SETB TR0
7 6 5 4 3 2 1 0 TF1 TR1 TF0 TR0 IE1 IT1 IE0 IT0 Used for Timer Control
Counter
start:
MOV TMOD,#00000101b
SETB TR0
Loop:
MOV P2,TL0
SJMP Loop
Relay Interfacing
+V
N/C C N/O
Use a Switch to ON & Off Relay, Observe the Tick sound generated when Relays magnet is energized
Relay Interfacing
230V Ph
+V
N/C C N/O
LCD Interfacing
LCD Circuit
LCD Interfacing
TSOP1738 RC5 Remote

38KHZ Industrial Grade IR receiver
TSOP1738 RC5 Remote

TSOP1738 RC5 Remote

Refer Source Code
RS232
Use RS232 to communicate between a PC and embedded product Data logger is common example of it
RS232
Rx & Tx Pins
RS232
Steps to Communicate Both devices (PC & embedded product) must decide on common speed of communication, This speed is called as baud rate We will use 2400 baud rate i.e. 2400 bits per second
RS232
SFRs required for Serial Comunication SCON PCON SBUF TMOD Baud rate settings TCON TL1 TH1
RS232
SCON register is used to specify RS232 communication settings:

7 6 5 4 3 2 1 0
SM0SM1SM2REN TB8 RB8 TI

Mode of RS232
RI
Indicates that Data is received
I want to receive data over RS232
Indicates that Data is transmitted
RS232
Mode of serial communication

SM0 0 0 1 1 SM1 0 1 0 1 Serial Mode 0 1 2 3 Explanation 8-bit Shift Register 8-bit UART 9-bit UART 9-bit UART Baud Rate Oscillator / 12 Set by Timer 1 Oscillator / 32 Set by Timer 1
RS232
Baud rate = 2400. Mode type = Mode 1 of serial communication. In this mode we can send and receive 8 bit data. Baud rate to send this data can be set using Timer 1.
RS232
Timer 1 is used in 8-bit auto reload mode to generate required BAUD rate. We can not use Timer 0. There no such internal provision to do so
RS232
Lets understand Timer 1 Configurations:

TMOD = 00100000b (8-bit auto reload mode) In 8 bit auto-reload mode, Timer 1 acts as 8 bit and not 16 bits. 8 bits of TL1 are used to increment timer value. 8 bits of TH1 are used to tell TL1 to start incrementing again from this value as it overflows. This is called as auto-reload.
RS232
This re-load value for TH1 will be calculated using this formula: TH1 = 256 - ((Crystal / 384) / Baud) TH1 = 256 - ((11059000 / 384) / 2400 ) TH1 = 256 - ((28,799) /2400) TH1 = 256 11.99 = 244.00042= =244d
RS232
TMOD = 00100000b (8-bit auto reload mode)
TH1= 244d (as per formula)

Remember to make 7th bit of PCON register to 0. If it is set to 1 then speed will be doubled. This bit is also called as SMOD.
RS232
Refer Source Code

8051 Interfacings Presentation From Basics To Hobby Robot

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www.EmbeddedMarket.

Robot Controls using 8051

Presented by: Pratik Deshpande

Use 89V51RD2 microcontroller to control a Hobby Robot

Microcontroller & Computer

Microcontroller & Digital Circuits

Why to use a Microcontroller?

Products using Microcontroller

Lets get prepared

Lets get prepared

Lets get prepared

Lets get prepared

Writing programs to create application

Lets get prepared

Programming languages For Microcontrollers

:1000000020A0FD209004D2908002C290 30A0FD80FC :01001000EF00 :00000001FF www.EmbeddedMarket.com

Lets get prepared

Copy Hex File to Microcontroller

Lets get prepared

Bits , Bytes and Address

Lets get prepared

Bits , Bytes and Address 02d 2Ah 220d 122d

128 Byte RAM

07h 06h 05h 04h 03h 02h 01h 00h

Lets get prepared

(Input / Output circuits)

Lets get prepared

Built-in Features of Microcontroller Timer Counter Serial Communication Interrupts

Lets get prepared

Time to See a Demo

Running LEDs Seven Segment Display showing Numbers 0 to 9

Are you prepared now?

Are you prepared to learn How to write a program in Assembly Language?

Logical Operations on Bits ANL C, 00h ORL C, 00h

Rotate Values RL A 10101100

Free Gift & Purchase

Register yourself to www.EmbeddedMarket.com Facebook.com/EmbeddedMarket

PCB Design & Manufacturing

To Glow alternate 4 LEDs ON and 4 LEDs OFF

LED Circuit on 89V51RD2 Starter Kit

8051IDE & FlashMagic

4 1 89V51RD2 COM1 2400 2 Check this

Select Hex File Start After Hardware Setup is ready

89V51RD2 Starter Kit

89V51RD2 Starter Kit

Connect Serial Cable

Hardware Setup to Program

Internal Memory Organization

Configuration Registers, Port Registers, Maths registers

Memory from 00h to 07h is also termed as R0 to R7 www.EmbeddedMarket.com

Memory to Store values of variables. e.g. Count is 12

89V51RD2 Pin details

P2 Crystal GND www.EmbeddedMarket.com

Generate Delay using Timer

Crystal 11.0592 MHz

Generate Delay using Timer

Every microcontroller has different Machine cycle time

Generate Delay using Timer

Generate Delay using Timer

Generate Delay using Timer

Generate Delay using Timer

1 Machine cycle Frequency =11.0592MHz /12 = 0.9216 MHz

Generate Delay using Timer