Keil Embedded C Tutorial PDF

4/7/2015
KeilEmbeddedCTutorial
Keil Embedded C Tutorial
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Table of Content
Introduction to Keil C
Keywords
Memory Models
Pointers in Keil C
Generic Pointers
Memory-Specific Pointers
Functions in Keil C
Function Declaration
Writing First C program in Keil
Basic of a C program
Writing Hardware specific code
Writing C and Assembly together
Interfacing C program to Assembler
Segment naming
Advanced C programming
Function Parameters
Fucntion Return Values
Introduction to Keil C
The use of C language to program microcontrollers is becoming too common. And most of the time its not easy to buld an application in
assembly which instead you can make easily in C. So Its important that you know C language for microcontroller which is commonly known as
Embedded C. As we are going to use Keil C51 Compiler, hence we also call it Keil C.
Keywords
Keil C51 compiler adds few more keywords to the scope C Language:
_at_
far
sbit
alien
idata
sfr
bdata
interrupt
sfr16
bit
large
small
code
pdata
_task_
compact
_priority_
using
data
reentrant
xdata
http://www.8051projects.net/wiki/Keil_Embedded_C_Tutorial#Writing_Hardware_specific_code
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data/idata
Description: The variable will be stored in internal data memory of controller. example:
1.
unsignedchardatax
2.
//or
3.
unsignedcharidatay
bdata
Description: The variable will be stored in bit addressable memory of controller. example:
1.
unsignedcharbdatax
2.
//eachbitofthevariablexcanbeaccessedasfollows
3.
x^1=1//1stbitofvariablexisset
4.
x^0=0//0thbitofvariablexiscleared
xdata
Description: The variable will be stored in external RAM memory of controller. example:
1.
unsignedcharxdatax
code
Description: This keyword is used to store a constant variable in code memory. Lets say you have a big string which is not going to change
anywhere in program. Wasting ram for such string will be foolish thing. So instead we will make use of the keyword "code" as shown in
example below. example:
1.
unsignedcharcodestr="thisisaconstantstring"
pdata
Description: This keyword will store the variable in paged data memory. This keyword is used occasionally. example:
1.
unsignedcharpdatax
_at_
Description: This keyword is used to store a variable on a defined location in ram. example:
1.
unsignedcharidatax_at_0x30
2.
//variablexwillbestoredatlocation0x30
3.
//ininternaldatamemory
sbit
Description: This keyword is used to define a special bit from SFR (special function register) memory. example:
1.
sbitPort0_0=0x80
2.
//SpecialbitwithnamePort0_0isdefinedataddress0x80
sfr
Description: sfr is used to define an 8-bit special function register from sfr memory. example:
1.
sfrPort1=0x90
2.
//SpecialfunctionregisterwithnamePort1definedataddrress0x90
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sfr16
Description: This keyword is used to define a two sequential 8-bit registers in SFR memory. example:
1.
sfr16DPTR=0x82
2.
//16bitspecialfunctionregisterstartingat0x82
3.
//DPLat0x82,DPHat0x83
using
Description: This keyword is used to define register bank for a function. User can specify register bank 0 to 3. example:
1.
voidfunction()using2
2.
3.
4.
5.
//Funtionnamed"function"usesregisterbank2whileexecutingitscode
//code
interrupt
Description: This keyword will tells the compiler that function described is an interrupt service routine. C51 compiler supports interrupt
functions for 32 interrupts (0-31). Use the interrupt vector address in the following table to determine the interrupt number.
Vector Address Locations

example:
1.
voidExternal_Int0()interrupt0
2.
3.
4.
//code
Memory Models
There are three kind of memory models available for the user:
Small
All variables in internal data memory.
Compact
Variables in one page, maximum 256 variables (limited due to addressing scheme, memory accessed indirectly using r0 and r1 registers);
large
All variables in external ram. variables are accessed using DPTR.
Depending on our hardware configuration we can specify the momory models as shown below:
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1.
//ForSmallMemorymodel
2.
#pragmasmall
3.
//ForCompactmemorymodel
4.
#pragmacompact
5.
//Forlargememorymodel
6.
#pragmalarge
Pointers in Keil C
Pointers in keil C is are similar to that of standard C and can perform all the operations that are available in standard C. In addition, keil C
extends the operatability of pointers to match with the 8051 Controller architecture. Keil C provides two different types of pointers:
Generic Pointers
Generic Pointers
Generic Pointers are declared same as standard C Pointers as shown below:
1.
char*ptr
//CharacterPointer
2.
int*num
//IntegerPointer
Generic pointers are always stored using three bytes. The first byte is the memory type, the second byte is the high-order byte of the offset,
and the third byte is the low-order byte of the offset. Generic pointers maybe used to access any variable regardless of its location.
Memory specific pointers are defined along with memory type to which the pointer refers to, for example:
1.
chardata*c
2.
//PointertocharacterstoredinDatamemory
3.
4.
charxdata*c1
5.
//PointertocharacterstoredinExternalDataMemory.
6.
7.
charcode*c2
8.
//PointertocharacterstoredinCodememory
As Memory-Specific pointers are defined with a memory type at compile time, so memory type byte as required for generic pointers is not
needed. Memory-Specific pointers can be stored using 1 byte (for idata, data, bdata and pdata pointers) or 2 bytes (for code and xdata
pointers).
The Code generated by keil C compiler for memory-specific pointer executes mroe quickly than the equivalent code generated for a generic
pointer. This is because the memory area accessed by the pointer is known at the compile time rather at run-time. The compiler can use this
information to optimize memory access. So If execution speed is your priority then it is recommended to use memory-specific pointers.
Generic pointers and Memory-Specific pointers can be declared with memory area in which they are to be stored. For example:
1.
//GenericPointer
2.
char*idataptr
3.
//characterpointerstoredindatamemory
4.
int*xdataptr1
5.
//Integerpointerstoredinexternaldatamemory
6.
7.
//MemorySpecificpointer
8.
charidata*xdataptr2
9.
//PointertocharacterstoredinInternalDatamemory
10.
//andpointerisgoingtobestoredinExternaldatamemory
11.
intxdata*dataptr3
12.
//PointertocharacterstoredinExternalDatamemory
13.
//andpointerisgoingtobestoredindatamemory
Functions in Keil C
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Keil C compiler provides number of extensions for standarad C function declerations. These extensions allows you to:
Specify a function as an interrupt procedure
Choose the register bank used
Select memory model
Function Declaration
[Return_type]Fucntion_name([Arguments])[Memory_model][reentrant][interruptn][usingn]
Return_type
The type of value returned from the function. If return type of a function is not specified, int is assumed by default.
Function_name
Name of function
Arguments
Arguments passed to function
Optional Stuff
These are options that you can specify along with function declaration. Memory_model: explicit memory model (Large, Compact, Small) for
the function. Example:
1.
intadd_number(inta,intb)Large
reentrant
To indicate if the function is reentrant or recursive. This option is explained later in the tutorial.
interrupt
Indicates that function is an interrupt service routine. This option is explained later in the tutorial.
using
Specify register bank to be used during function execution. We have three register banks in 8051 architecture. These register banks are
specified using number 0 for Bank 0 to 3 for Bank 3 as shown in example
1.
voidfunction_name()using2
2.
3.
//functionusesBank2
4.
//functioncode
5.
Interrupt Service Routines

A function can be specified as an interrupt service routine using the keyword interrupt and interrupt number. The interrupt number indicates
the interrupt for which the function is declared as service routine.
Following table describes the default interrupts:
8051 Interrupt vector

As 8051 vendors create new parts, more interrupts are added. Keil C51 compiler supports interrupt functions for 32 interrupts (0-31). Use the
interrupt vector address in the following table to determine the interrupt number.
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Interrupt vector
The interrupt function can be declared as follows:
1.
voidisr_name(void)interrupt2
2.
3.
4.
//Interruptroutinecode
Please make sure that interrupt service routines should not have any arguments or return type except void.
Reentrant Functions
In ANSI C we have recursive function, to meet the same requirement in embedded C, we have reentrant function. These functions can be
called recursively and can be called simultaneously by two or more processes. Now you might be thinking, why special definition for recursive
functions?
Well you must know how these functions work when they are called recursively. when a function is running there is some runtime data
associated with it, like local variables associated with it etc. when the same function called recursively or two process calls same function, CPU
has to maintain the state of function along with its local variables. Reentrant functions can be defined as follows:
1.
voidfunction_name(intargument)reentrant
2.
3.
4.
//functioncode
Each reentrant function has reentrant stack associated with it, which is defined by startup.A51 file. Reentrant stack area is simulated internal
or external memory depending upon the memory model used:
Small model reentrant functions simulate reentrant stack in idata memory.
Compant model reentrant functions simulate reentrant stack in pdata memory.
Large model reentrant functions simulate reentrant stack in xdata memory.
Real-time Function Tasks

Keil or C51 provides support for real-time operating system (RTOS) RTX51 Full and RTX51 Tiny. Real-time function task are declared using
_task_ and _priority_ keywords. The _task_ defines a function as real-time task. The _priority_ keyword specify the priority of task.
Fucntions are declared as follows:
1.
voidfunc(void)_task_Number_priority_Priority
2.
3.
4.
//code
where:
Number
is task ID from 0 to 255 for RTX51 Full and 0 to 15 for RTX51 Tiny.
Priority
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is priority of task.
Real-time task functions must be declared with void return type and void argument list (say no arguments passed to task function).
Writing First C program in Keil

Basic of a C program
As we already discussed, Keil C is not much different from a normal C program. If you know assembly, writing a C program is not a problem,
only thing you have to keep in mind is forget your controller has general purpose registers, accumulators or whatever. But do not forget
about Ports and other on chip peripherals and related registers to them.
In basic C, all programs have atleast one function which is entry point for your application that function is named as \"main\" function.
Similarly in keil, we will have a main function, in which all your application specific work will be defined. Lets move further deep into the
working of applications and programs.
When you run your C programs in your PC or computer, you run them as a child program or process to your Operating System so when you
exit your programs (exits main function of program) you come back to operating system. Whereas in case of embedded C, you do not have
any operating system running in there. So you have to make sure that your program or main file should never exit. This can be done with the
help of simple while(1) or for(;;) loop as they are going to run infinitely. Following layout provides a skeleton of Basic C program.
1.
voidmain()
2.
3.
//Youronetimeinitializationcodewillcomehere
4.
while(1){
5.
//while1loop
6.
//Thisloopwillhaveallyourapplicationcode
7.
//whichwillruninfinitely
8.
9.
When we are working on controller specific code, then we need to add header file for that controller. I am considering you have already gone
through "Keil Microvision" tutorial. After project is created, add the C file to project. Now first thing you have to do is adding the header file.
All you have to do is right click in editor window, it will show you correct header file for your project.
Figure below shows the windows context for adding header file to your c file.
Include Header file in Keil
Writing Hardware specific code

In harware specific code, we use hardware peripherals like ports, timers and uart etc. Do not forget to add header file for controller you are
using, otherwise you will not be able to access registers related to peripherals. Lets write a simple code to Blink LED on Port1, Pin1.
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1.
#include<REGx51.h>
2.
//headerfilefor89C51
3.
voidmain()
4.
5.
//mainfunctionstarts
6.
unsignedinti
7.
8.
//InitializingPort1pin1
9.
P1_1=0//MakePin1o/p
10.
11.
while(1){
12.
//Infiniteloopmainapplication
13.
//comeshere
14.
for(i=0i<1000i++)
15.
16.
17.
P1_1=~P1_1
18.
//complementPort1.1
19.
//thiswillblinkLEDconnectedonPort1.1
20.
21.
//delayloop
You can now try out more programs. "Practice makes a man perfect".
Writing C and Assembly together

Interfacing C program to Assembler
You can easily interface your programs to routines written in 8051 Assembler. All you need to do is follow few programming rules, you can
call assembly routines from C and vice-versa. Public variables declared in assembly modules are available to your C program.
There maybe several reasons to call an assembly routine like faster execution of program, accessing SFRs directly using assembly etc. In this
part of tutorial we will discuss how to write assembly progarms that can be directly interfaced with C programs.
For any assembly routine to be called from C program, you must know how to pass parameters or arguements to fucntion and get return
values from a function.
Segment naming
C51 compiler generates objects for every program like program code, program data and constant data. These objects are stored in segments
which are units of code or data memory. Segment naming is standard for C51 compiler, so every assembly program need to follow this
convention.
Segment names include module_name which is the name of the source file in which the object is declared. Each segment has a prefix that
corresponds to memory type used for the segment. Prefix is enclosed in question marks (?). The following is the list of the standard segment
name prefixes:
C51 module prefix
Data Objects
Data objects are the variables and constants you declare in your C programs. The C51 compiler generates a saperate segment for each
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Data objects are the variables and constants you declare in your C programs. The C51 compiler generates a saperate segment for each
memory type for which variable is declared. The following table lists the segment names generated for different variable data objects. Data
objects segment prefix
Data Segment Prefix
Program Objects
Program onjects includes code generated for C programs functions by C51 compiler. Each function in a source module is assigned a separate
code segment using the ?PR?function_name?module_name naming convention. For example, for a function name send_char in file name
uart.c will have a segment name of ?PR?SEND_CHAR?UART.
C51 compiler creates saperate segments for local variables that are declared within the body of a function. Segment naming conventions for
different memory models are given in following tables:
Small model segment naming convention
Compact model segment naming convention
Large model segment naming convention

Function names are modified slightly depending on type of function (functions without arguments, functions with arguments and reentrant
functions). Following tables explains the segment names:
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function segment naming convention
Advanced C programming
Function Parameters
C51 make use of registers and memory locations for passing parameters. By default C function pass up to three parameters in registers and
further parameters are passed in fixed memory locations. You can disable parameter passing in register using NOREGPARMS keyword.
Parameters are passed in fixed memory location if parameter passing in register is disabled or if there are too many parameters to fit in
registers.
Parameter passing in registers

C functions may pass parameter in registers and fixed memory locations. Following table gives an idea how registers are user for parameter
passing.
parameter passing to functions

Following example explains a little more clearly the parameter passing technique:
example parameter passing to functions
Parameter passing in Fixed Memory Locations

Parameters passed to assembly routines in fixed memory lcoation use segments named
?function_name?BYTE
All except bit parameters are defined in this segment.
?function_name?BIT
Bit parameters are defined in this segment.
All parameters are assigned in this space even if they are passed using registers. Parameters are stored in the order in which they are
declared in each respective segment.
The fixed memory locations used for parameters passing may be in internal data memory or external data memory depending upon the
memory model used. The SMALL memory model is the most efficient and uses internal data memory for parameter segment. The COMPACT
and LARGE models use external data memory for the parameter passing segments.
Fucntion Return Values

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Function return values are always passed using CPU registers. The following table lists the possible return types and the registers used for
each.
function return values
Example
Following example shows how these segment and function decleration is done in assembler.
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1.
2.
andcalledfromanyCprogram
Assemblyprogramexamplewhichiscompatible
3.
letssayasm_test.asmisfilename
4.
nameasm_test
5.
6.
Wearegoingtowriteafunction
7.
addwhichcanbeusedincprogramsas
8.
unsignedlongadd(unsignedlong,unsignedlong)
9.
aswearepassingargumentstofunction
10.
sofunctionnameisprefixedwith'_'(underscore)
11.
12.
codesegmentforfunction"add"
13.
?PR?_add?asm_testsegmentcode
14.
datasegmentforfunction"add"
15.
?DT?_add?asm_testsegmentdata
16.
17.
letotherfunctionusethisdataspaceforpassingvariables
18.
public?_add?BYTE
19.
makefunctionpublicoraccessibletoeveryone
20.
public_add
21.
22.
definethedatasegmentforfunctionadd
23.
rseg?DT?_add?asm_test
24.
?_add?BYTE:
25.
parm1: DS4
FirstParameter
26.
parm2: ds4
SecondParameter
27.
28.
eitheryoucanuseparm1forreadingpassedvalueasshownbelow
29.
ordirectlyuseregistersusedtopassthevalue.
30.
rseg?PR?_add?asm_test
31.
_add:
32.
readingfirstargument
33.
movparm1+3,r7
34.
movparm1+2,r6
35.
movparm1+1,r5
36.
movparm1,r4
37.
param2isstoredinfixedlocationgivenbyparam2
38.
39.
nowaddingtwovariables
40.
mova,parm2+3
41.
adda,parm1+3
42.
afteradditionofLSB,moveittor7(LSBreturnregisterforLong)
43.
movr7,a
44.
mova,parm2+2
45.
addca,parm1+2
46.
storesecondLSB
47.
movr6,a
48.
mova,parm2+1
49.
addca,parm1+1
50.
storesecondMSB
51.
movr5,a
52.
mova,parm2
53.
addca,parm1
54.
storeMSBofresultandreturn
55.
56.
keilwillautomaticallystoreitto
57.
varablereadingtheresturnvalue
58.
movr4,a
59.
ret
60.
61.
end
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Now calling this above function from a C program is very simple. We make function call as normal function as shown below:
1.
externunsignedlongadd(unsignedlong,unsignedlong)
2.
3.
voidmain()
4.
5.
unsignedlonga
6.
a=add(10,30)
7.
//awillhave40afterexecution
8.
while(1)
9.
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Home (/) / Rikipedia (/wiki/) / Keil Embedded C Tutorial

Page (/wiki/Keil_Embedded_C_Tutorial) Discussion (/mediawiki/index.php?title=Talk:Keil_Embedded_C_Tutorial&action=edit&redlink=1)

Vector Address Locations

Interrupt Service Routines

8051 Interrupt vector

Real-time Function Tasks

Writing First C program in Keil

Include Header file in Keil

Writing Hardware specific code

Writing C and Assembly together

C51 module prefix

Data Segment Prefix

Small model segment naming convention

Compact model segment naming convention

Large model segment naming convention

Parameter passing in registers

parameter passing to functions

example parameter passing to functions

Parameter passing in Fixed Memory Locations

Fucntion Return Values

function return values

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