DsPIC30F 5011 Development Board

DsPIC30F 5011 Development Board - Open Circuits http://www.opencircuits.
com/DsPIC30F_5011_Development_Board
DsPIC30F 5011 Development Board

From Open Circuits
Contents
1 Introduction
1.1 Features of dsPIC30F5011
1.2 Web Page
1.3 Forum
1.4 References
2 Programming Methods
2.1 ICSP: External Programmer (ICD2)
2.1.1 Hardware Interface
2.1.2 Software Interface
2.2 RTSP: COM Port (Bootloader)
3 IC Requirements
4 Development Environment
4.1 Windows
4.2 Linux
4.3 Code Optimization
5 Software Architecture
6 Programming Tips
6.1 Memory Map for 5011
6.2 Data Location
6.3 Configuration Bits
6.4 Timer
6.4.1 Free Time Clock
6.4.2 Time Measurement
6.5 Interrupt
6.6 UART
6.6.1 Auto baud rate detection
6.6.2 Initialize UART
6.6.3 Sending and Receiving Data
6.7 I2C
6.8 ADC
6.8.1 Configuration
6.8.2 Storing ADC Data
6.8.3 Adding and Removing Channels
6.9 EEPROM
6.9.1 Seek
6.9.2 Read
6.9.3 Write
6.10 Simple PWM (Output Compare Module)
6.10.1 open()
6.10.2 ioctl()
6.10.3 write()
6.10.4 Propagration Delay
6.11 DSP Library
6.11.1 Data Types
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DsPIC30F 5011 Development Board - Open Circuits http://www.opencircuits.com/DsPIC30F_5011_Development_Board
6.11.2 Overflow and Saturation Traps

6.12 Build-in Library
7 Bootloader Development
7.1 Concepts
7.2 dsPicBootloader
7.3 dsPicProgrammer (Java-based Multi-Platformed)
7.4 Special Consideration
7.5 Downloads
7.6 Communication Protocol
8 USB-RS232 Bridge
8.1 FDTI Chipset
9 Programming the Device
9.1 Requirements
9.2 Loading Bootloader (Once only)
9.3 Loading Application
10 Remote Access
10.1 Requirements
10.2 API Reference for VxWorks
11 Conversion to dsPIC33F Devices (Not Tested)
11.1 Hardware
11.2 Software
11.2.1 Configuration Bits
11.2.2 UART
11.2.3 I2C
11.2.4 ADC
11.2.5 EEPROM
11.2.6 Simple PWM
11.3 Memory Map for dsPIC33FJ128GP306
11.4 dsPicBootloader
11.5 dsPicProgrammer
12 To Do List
Introduction
Features of dsPIC30F5011
2.5 to 5V
Up to 30MIPs
High current/sink source I/O pins: 25mA
DSP Instruction Set
Dual programming techniques: ICSP and RTSP
UART: up to 2 modules
I2C: up to 1Mbps
10-bit A/D, 1.1 Msps
12-bit A/D, 200 ksps
44K flash (66Kb), 4Kb RAM, 1Kb EEPROM
No DAC
Pin-to-pin compatible with other dsPICs
Table 1.1 Comparison with Compatible dsPICs

Price Flash RAM EEPROM ADC Motor
dsPic MIPs I/O IC OC Timers QEI UART
US$ (kB) (kB) (kB) 12-bit Ctrl
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5x16bit
30F5011 5.91 30 66 4 1 52 16 8 8 0 0 2
2x32bit
5x16bit
30F6011A 7.73 30 132 6 2 52 16 8 8 0 0 2
2x32bit
5x16bit
30F6012A 7.85 30 144 8 4 52 16 8 8 0 0 2
2x32bit
9x16bit
33FJ128GP206 4.62 40 128 8 0 53 18 8 8 0 0 2
4x32bit
9x16bit
33FJ128GP306 4.81 40 128 16 0 53 18 8 8 0 0 2
4x32bit
9x16bit
33FJ128GP706 5.49 40 128 16 0 53 18 8 8 0 0 2
4x32bit
9x16bit
33FJ128MC506 4.97 40 128 8 0 53 16 8 8 8 1 2
4x32bit
9x16bit
33FJ128MC706 5.38 40 128 16 0 53 16 8 8 8 1 2
4x32bit
9x16bit
33FJ256GP506 6.11 40 256 16 0 53 18 8 8 0 0 2
4x32bit
Web Page
Microchip Official Website

(http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2529&param=en024856
Forum
Microchip (http://direct.forum.microchip.com/default.aspx) : Official forum by Microchip

MPLAB ICD 2 (http://direct.forum.microchip.com/tt.aspx?forumid=49) : Subforum on ICD 2
programmer
MPLAB IDE (http://direct.forum.microchip.com/tt.aspx?forumid=57) : Subforum on IDE
MPLAB C30 Compiler, ASM30, Link30 forum
(http://direct.forum.microchip.com/tt.aspx?forumid=101) : Subforum on C compiler. Refer to
MPLAB C30 C Compiler User's Guide
(http://ww1.microchip.com/downloads/en/DeviceDoc/C30_Users_Guide_51284e.pdf) Chapter 3
dsPIC30F Topics (http://direct.forum.microchip.com/tt.aspx?forumid=153) : Subformum on
dsPIC30F
GNUPIC (http://www.gnupic.org/) : Discussion on PIC in Linux Systems
Debian (http://www.linuxhacker.org/cgi-bin/ezmlm-cgi?1:dds:5443#b)
HI-TECH Software Forum (http://www.htsoft.com/forum/all/ubbthreads.php/Cat/0/C/6) : Discussion on
dsPICC, a C compiler developed by HI-TECH
PICList (http://piclist.com/techref/piclist/index.htm) : Discussion on older PIC systems (not dsPIC)
PicKit (http://groups.google.com/group/pickit-devel) : Discussion on PICkit/PICkit 2 programmers
FreeRTOS Real Time Kernel (http://sourceforge.net/forum/forum.php?forum_id=382005) : Open
Discussion and Support on FreeRTOS
References
dsPIC30F
Family Overview (http://ww1.microchip.com/downloads/en/DeviceDoc/70043F.pdf)
Family Reference Manual (http://ww1.microchip.com/downloads/en/DeviceDoc/70046E.pdf) :
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Contains detailed descriptions on dsPIC30F register definitions and example codes

5011 Data Sheet (http://ww1.microchip.com/downloads/en/DeviceDoc/70116F.pdf)
Flash Programming Specification (http://ww1.microchip.com/downloads/en/DeviceDoc/70102G.pdf)
Programmer Reference Manual (http://ww1.microchip.com/downloads/en/DeviceDoc/70157B.pdf)
dsPIC33F
Product Overview (http://ww1.microchip.com/downloads/en/DeviceDoc/70155c.pdf)
Family Data Sheet (http://ww1.microchip.com/downloads/en/DeviceDoc/70165E.pdf)
Flash Programming Specification (http://ww1.microchip.com/downloads/en/DeviceDoc/70152C.pdf)
dsPIC30F to dsPIC33F Conversion Guidelines
(http://ww1.microchip.com/downloads/en/DeviceDoc/70172A.pdf)
ICD2 Programmer
ICD2 User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/51331B.pdf)
MPLAB
MPLAB IDE User's Guide (http://ww1.microchip.com/downloads/en/DeviceDoc/51519B.pdf)
C30 Compiler
MPLAB C30 C Compiler User's Guide
(http://ww1.microchip.com/downloads/en/DeviceDoc/C30_Users_Guide_51284e.pdf) : Contains
commands for using pic30-elf-gcc
16-bit Language Tools Libraries
(http://ww1.microchip.com/downloads/en/DeviceDoc/16bit_Language_Tool_Libraries_51456c.pdf)
: Contains summaries and examples of using DSP libraries, standard C libraries and device libraries
MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide
(http://ww1.microchip.com/downloads/en/DeviceDoc/Asm30_Link_Util_51317e.pdf)
dsPIC30F Language Tools Quick Reference Card
(http://ww1.microchip.com/downloads/en/DeviceDoc/51322d.pdf)
Programming Methods
There are 2 programming methods: In-Circuit Serial Programming (ICSP) and Run-Time
Self-Programming (RTSP)
ICSP allows the devices to be programmed after being placed in a circuit board.
RTSP allows the devices to be programmed when an embedded program is already in operation.
ICSP: External Programmer (ICD2)
Two types of ICSP are available: ICSP and Enhanced ICSP. Both of them require setting MCLR# to
VIHH (9V – 13.25V).
Standard ICSP
Use external programmer (e.g. MPLAB® ICD 2, MPLAB® PM3 or PRO MATE® II) only.
Required low-level programming to erase, program and verify the chip.
Slower, because codes are serially executed.
Program memory can be erased using Normal-Voltage (4.5 – 5.5V) or Low-Voltage (2.5V – 4.5V).
Enhanced ICSP
Use external programmer and Programming Executive (PE).
PE is stored in the on-chip memory.
PE allows faster programming.
PE can be downloaded to the chip by external programmer using the standard ICSP method.
PE contains a small command set to erase, program and verify the chip, avoiding the need of
low-level programming.
Hardware Interface
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Table 2.1 Pin Used by ICSP

Pin Label Function Pin Number
MCLR# Programming Enable 7
VDD Power Supply 10, 26, 38, 57
VSS Ground 9, 25, 41, 56
PGC Serial Clock 17
PGD Serial Data 18
Product Name
MPLAB® ICD 2
(http://direct.www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en010046&par
Full Speed USB Microchip ICD2
Debugger and Programmer (http://www.etekronics.com/product_info.php?cPath=24&products_id=48)
Mini Microchip Compatible ICD2
Debugger and Programmer (http://www.etekronics.com/product_info.php?cPath=24&products_id=47)
ICDX30 (http://www.inexglobal.com/microcontroller.php)
Clone Microchip ICD2 (http://www.sure-electronics.net/englishsite/icd2/icd2.htm)
Table 2.3 DIY ICD 2 Programmer

Source Schematic
Patrick Touzet Yes
(http://membres.lycos.fr/silicium31/Electronique/PIC/FreeIcdEnglish.htm) (http://membres.lycos.fr/silicium31/Electroniqu
Nebadje (http://www.nebadje.org/doku.php?id=neblab:icd2clone) Yes (http://people.ee.ethz.ch/~jbiveron/nebadje/
Software Interface
The program can be written and compiled in an Integrated Development Environment (IDE) using either
Assembly or C. The complied codes are then loaded to the device through the external programmer.
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Table 2.4 Summary of IDE
Product Name
MPLAB® IDE
(http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en019469&part=SW0
MPLAB® C30
(http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en010065&part=SW0
Piklab 0.12.0 (http://linux.softpedia.com/get/Science-and-Engineering/Electronic-Design-Automation-EDA-/Piklab-8099.sh
1. Full-featured for the first 60 days. After 60 days only optimization level 1 can be enabled in the compiler.
The compiler will continue to function after 60 days, but code size may increase.
2. The current version supports external programmer ICD 2, but not yet tested.
RTSP: COM Port (Bootloader)
RTSP works in normal voltage (MCLR# no need to raise to VIHH).

No literature has mentioned the incorporation of Programming Executive (PE). Presumably, since
Enhanced ICSP needs to set MCLR# to VIHH, RTSP cannot use PE.
Refer to bootloader section.
IC Requirements
Table 3.1 IC Requirements
Min Max
Part No. Description
Temp Temp
dsPIC30F5011-30I/PT uP -40oC 85o
(http://ww1.microchip.com/downloads/en/DeviceDoc/70116F.pdf)
MAX3232ESE (http://datasheets.maxim-ic.com/en/ds/MAX3222-MAX3241.pdf) RS232 driver -40oC 85o
DS3695N (http://www.national.com/ds.cgi/DS/DS3695.pdf) RS485 driver -40oC 85o
10-bit
DAC6574DGS (http://focus.ti.com/lit/ds/symlink/dac6574.pdf) Quad-DAC -40oC 105
I2C
74HC14D Quad-Schmitt
(http://www.semiconductors.philips.com/acrobat/datasheets/74HC_HCT14_3.pdf) Trigger -40oC 125
Overall -40oC 85o
dsPIC33FJ128GP306
(http://ww1.microchip.com/downloads/en/DeviceDoc/70165E.pdf)
uP -40oC 85o
ADM3485EARZ
RS485 driver -40oC 85o
(http://www.analog.com/UploadedFiles/Data_Sheets/ADM3485E.pdf)
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1. Minimum voltage measured is 3.3V (with 2 LEDs blinking) running at 30MHz.

2. Measured current at 5V is 180mA (with 2 LEDs blinking only)
Development Environment
Windows
C-Compiler, Assembler and Linker are under GNU license.

MPLAB C30 C Compiler (*.c -> *.s)
MPLAB ASM30 Assembler (*.s -> *.o)
MPLAB LINK30 Linker (*.o -> *.bin)
PA optimizer, simulator, runtime libraries, header files, include files, and linker scripts are not covered by
GNU. Reference is here (http://direct.forum.microchip.com/tm.aspx?m=107208) .
Microchip has integrated ASM30, LINK30, assembly header files, linker scripts in MPLAB IDE, which
is free for download.
MPLAB C30 costs US$895. A 60-day free student version is also available. After 60-days, the optimizer
is automatically disabled, while other tools can still function properly. Refer to Table 2.4.
C-libraries contained in C30 includes (Refer to 16-Bit Language Tools Libraries

(http://ww1.microchip.com/downloads/en/DeviceDoc/16bit_Language_Tool_Libraries_51456c.pdf) from
Microchip).
Table 4.1 C Libraries in MPLAB C30

Directory
Library (\\Microchip\MPLAB Major functions
C30)
DSP Library \lib Vector, Matrix, Filter, etc.
(e.g. libdsp-coff.a) \src\dsp
\support\h
16-Bit Peripheral Libraries \lib ADC12, IOPort, UART, I2C, etc.
(e.g. libp30F5011-coff.a) \src\peripheral
\support\h
7 от 34 05.3.2007 г. 14:43
Standard C Libraries \lib stdio.h, time.h, float.h, math.h,

(e.g. libc-coff.a, libm-coff.a, \src\libm
libpic-coff.a) \include
MPLAB C30 Built-in Functions none _buildin_addab, _buildin_add,
_buildinmpy, etc
Linux
C Compiler, Assembler and Linker are under GNU license.

The code can be downloaded from Microchip at here
(http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en023073
.
Current MPLAB ASM30 Assembler: v2.04
Current MPLAB C30 Compiler: v2.04
John Steele Scott (http://gcc.gnu.org/ml/gcc/2005-02/msg01144.html) has made templates that can be

readily used by Debian-based systems. Someone at http://noel.feld.cvut.cz/dspic/ has done the necessary
conversion to *.deb already.
Download pic30-1.32-debian.tar.bz2 for Template v1.32. (For v2.01, please goto
pic30-debian-2.01.tar.bz2
(http://thread.gmane.org/gmane.comp.hardware.microcontrollers.gnupic/3768/focus=3768) ).
Download pic30-binutils_1.32-1_i386.deb for the assember.
Download pic30-gcc_1.32-1_i386.deb for the compiler.
Important Note: Only the compiler is free. The header files and library is owned by Microchip.
Thomas Sailer suggested to download the Student version of C30 compiler and then build the
libraries without source code. A package template for Fedora system is available here
(http://www.baycom.org/~tom/dspic/) .
Instructions for filling the upstream direction is available here
(http://forum.microchip.com/printable.aspx?m=139360) .
Alteratively, Stephan Walter (https://gna.org/projects/pic30-libc/) has started a project to develop C
Runtime Library for dsPIC.
Current libraries in version 0.1.1 include: assert.h, cdefs.h, ctype.h, errno.h, inttypes.h, stdint.h,
stdio.h, stdlib.h, string.h
Burning Program Codes to Target Board
1. Use 'dspicprg and dspicdmp' utilities developed by Homer Reid (http://homerreid.ath.cx/misc/dspicprg/) to

burn hex code (*.hex) to devices. See Reference here (http://forum.microchip.com/tm.aspx?m=94243) .
Through serial port only?
8 от 34 05.3.2007 г. 14:43
2. Use Piklab IDE (http://piklab.sourceforge.net/) . Details on file format not known.

3. Use MPLAB IDE
(http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en019469&part=
to burn hex code (*.hex) to devices.
Code Optimization
Code Optimization under GNU license supports O0 and O1 only.

MPLAB C-Compiler supports O0, O1, O2, Os and O3. The Student version will disable O2, Os, and O3
after 60 days.
Below is a comparsion between different optimization levels for the project including drivers for 2
projects.
Table 4.2 Comparison between differnt optimization levels

Project 1 Project 1 Project 2
Project 2
Code Data Data
Optimization Description Code Size
Size Usage Usage
(byte)
(byte) (byte) (byte)
O0 No optimization 6222 178 (4%) 26,037 710 (17%)
Fastest Compilation (9%) (38%)
O1 Optimize 4473 178 (4%) 22,290 710 (17%)
Tries to reduce code size and execution (6%) (32%)
time.
O2 Optimize even more 4422 178 (4%) 21,993 710 (17%)
Performs nearly all supported (6%) (32%)
optimizations
that do not involve a space-speed
trade-off.
Increases both compilation time and the
performance of the generated code.
O3 Optimize yet more. 4485 178 (4%) 22,176 710 (17%)
O3 turns on all optimizations specified (6%) (32%)
by O2
and also turns on the inline-functions
option.
Os Optimize for size. 4356 178 (4%) 21,885 710 (17%)
Os enables all O2 optimizations that do (6%) (32%)
not
typically increase code size. It also
performs
further optimizations designed to reduce
code
size.
Software Architecture
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+----------+-----------+---------+---------+
| local | remote | | |
+----------+-----------+ host | UI |
| data access | channel | |
| (DI,DO,AI,AO) | | |
+----------------------+---------+---------+
| Application |
| |
+------------------------------------------+
| Applications Model |
| +--------------+-----------+ |
| | GUI | CLib | |
| | +------+-----------+-------+
| | | Operating System |
+-------+-------+--------------------------+
| Drivers |
+------------------------------------------+
| Hardware |
+------------------------------------------+
Currently, operating system is based on linlike8

(http://www.psocdeveloper.com/forums/viewtopic.php?p=973&sid=717d6b7e86472a5036f7cfbbcb0c05aa
. The possibility of using other OS (e.g. FreeRTOS (http://www.freertos.org/) ) will be explored later.
Software Drivers are to be developed to allow users at Application Level to use the hardware (e.g. ADC,
DAC, UART, EEPROM) through the OS.
The interface between the drivers and the OS should be compliant with POSIX standard
(http://www.die.net/doc/linux/man/man2/) for Linux (e.g. open(), write(), read(), ioctl() etc).
Programming Tips
Memory Map for 5011
Table 6.1 Memory Location

Type Start Address End Address Size
Flash 0x000000 0x00AFFF 44K[1]
+--Flash: Reset Vector 0x000000 0x000003 4
+--Flash: Interrupt Vector Table 0x000004 0x00007F 124
+--Flash: Alternate Vector Table 0x000084 0x0000FF 124
+--Flash: User Program 0x000100 0x00AFFF 43.7K
EEPROM 0x7FFC00 0x7FFFFF 1K[2]
Programming Executive 0x800000 0x8005BF 1472
Unit ID 0x8005C0 0x8005FF 64
Config Registers 0xF80000 0xF8000F 16
Device ID 0xFF0000 0xFF0003 4
[1] Each address is 16-bit wide. Every two addresses correspond to a 24-bit instruction. Each even address
contains 2 valid bytes; each odd address contains 1 valid byte plus 1 phathom byte.
[2] Each address is 8-bit wide.
Data Location
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Table 6.2 Data Location

Type Description Example
_XBSS(N) [1] RAM Data in X-memory, aligned int _XBSS(32) xbuf[16];

at N, no initilization
_XDATA(N) [1] RAM Data in X-memory, aligned int _XDATA(32) xbuf[] = {1, 2, 3, 4,
at N, with initilization 5};
_YBSS(N) [1] RAM Data in Y-memory, aligned int _YBSS(32) ybuf[16];

at N, no initilization
_YDATA(N) [1] RAM Data in Y-memory, aligned int _YDATA(32) ybuf[16] = {1, 2, 3,
at N, with initilization 4, 5};
__attribute__((space(const))) Flash ROM data, constant, int i __attribute__((space(const))) =
accessed by normal C 10;
statements, but 32K max.
__attribute__((space(prog))) Flash ROM data, read/write by int i __attribute__((space(prog)));
program space visibility
window (psv)
__attribute__((space(auto_psv))) Flash ROM data, read by normal int i __attribute__((space(auto_psv)));
C statements, write
by accessing psv
__attribute__((space(psv))) Flash ROM data, read/write by int i __attribute__((space(psv)));
(psv)
_EEDATA(N) [1] ROM Data in EEPROM, aligned int _EEDATA(2) table[]={0, 1, 2, 3,

at N, read/write with psv 5, 8};
_PERSISTENT RAM Data, data remain after int _PERSISTENT var1, var2;
reset
_NEAR RAM Data at near section int _NEAR var1, var2;
_ISR Interrupt service rountine void _ISR _INT0Interrupt(void);
_ISRFAST Fast interrupt service rountine void _ISRFAST _T0Interrupt(void);
1. N must be a power of two, with a minimum value of 2.
Configuration Bits
System clock source can be provided by:
1. Primary oscillator (OSC1, OSC2)

2. Secondary oscillator (SOSCO and SOSCI) with 32kHz crystal
3. Internal Fast RC (FRC) oscillator at 7.37MHz (7372800Hz)
4. Low-Power RC (LPRC) oscillator (Watchdog Timer) at 512 kHz.
These clock sources can be incorporated with interal Phase-locked-loop (PLL) x4, x8 or x16 to yield the
osciallator frequrence FOSC
The system clock is divided by 4 to yield the internal instruction cycle clock, FCY=FOSC/4
FRC with PLLx16 is used to achieve FCY=29.49MHz (29491200Hz or 30MIPS)
11 от 34 05.3.2007 г. 14:43
//The code (MACRO) below is to be placed at the top of program (before main)
_FOSC(CSW_FSCM_OFF & FRC_PLL16);
_FWDT(WDT_OFF); //Turn off Watchdog Timer
_FBORPOR(PBOR_ON & BORV_27 & MCLR_DIS & PWRT_16);
_FGS(CODE_PROT_OFF); //Disable Code Protection
Timer
Each timer is 16-bit (i.e. counting from 0 to 65535).

Timer 2 and 3 can be incorporated together to form a 32-bit timer.
Prescale is the ratio between timer counts and system clock counts. Prescales of 1:1, 1:8, 1:64 and 1:256
are available.
Timers may be used to implement free time clock or mesaure time.
Free Time Clock
Let required time for ticking be PERIOD.

Number of instruction cycles during PERIOD = PERIOD*FCY cycles
Using a prescale of 1:x, the timer period count register = # of cycles/x
e.g. PERIOD = 10ms; # of cycles = 10ms*30MHz = 300000 cylces; Using 1:64 Prescale, register setting
= 300000/64 = 4688
void time_init(void){
TMR1 = 0; // Clear register
PR1 = 4688; // Set period
//============================================================
_T1IF = 0; // Clear interrupt flag
_T1IE = 1; // Enable interrupts
//============================================================
T1CONbits.TCS = 0; // Use internal clock source
T1CONbits.TCKPS = 2; // Prescale Select 1:64
T1CONbits.TON = 1; // Start the timer
}
//********************************************************************
void _ISRFAST _T1Interrupt(void){
//Place user code here
}
Time Measurement
To measure the time taken for action(), use the code below:
unsigned int measure_time(void){

PR3 = 0xFFFF; // Set counter to maximum
_T3IE = 0; // Disable interrupt
T3CONbits.TON = 1; // Start the timer, TMR3 count up
TMR3 = 0; //Clear TMR3 to start count up
//====================================================
//Add code here to wait for something to happen
action();
//====================================================
T3CONbits.TON = 0; //Stop the timer
//====================================================
return (unsigned int) TMR3/FCY; //TMR/FCY yields the actual time
}
Interrupt
Registers are involved in Interrupts includes:
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1. Interrupt Flag Status (IFS0-IFS2) registers

2. Interrupt Enable Control (IEC0-IEC2) registers
3. Interrupt Priority Control (IPC0-IPC10) registers
4. Interrupt Priority Level (IPL) register
5. Global Interrupt Control (INTCON1, INTCON2) registers
6. Interrupt vector (INTTREG) register
User may assign priority level 0-7 to a specific interrupt using IPC. Setting priority to 0 disable a specific
interrupt. Level 7 interrupt has the highest priority.
Current priority level is stored in IPL. Setting IPL to 7 disables all interrupts (except traps). The following
MACROs are defined in <p30f5011.h>:
1. SET_CPU_IPL(ipl): Set IPL to ipl

2. SET_AND_SAVE_CPU_IPL(save_to, ipl): Store the current IPL to save_to and then set to ipl
3. RESTORE_CPU_IPL(saved_to): Restore the previously saved ipl
sti() and cli() are defined to enable and disable global interrupts for time critical functions:
extern int SAVE_IPL;

#define sti() RESTORE_CPU_IPL(SAVE_IPL)
#define cli() SET_AND_SAVE_CPU_IPL(SAVE_IPL, 7)
//============================================================
char adc_ioctl(unsigned char request, unsigned char* argp){
//...
cli(); //Disable global interrupt
for(;ch<=argp[0];ch++)
adc_add_ch(argp[ch]); //Add adc channels
sti(); //Enable global interrupt
//...
return 0;
}
UART
5011 provides two UART channels UxART, for x=1, 2.

UxMODE, UxSTA, UxBRG are registers used to set the mode, indicate the status, and set the baud rate
respectively.
For UART communications compatiable with RS232 standard, an external driver (e.g. MAX3232ESE) is
needed.
For UART communications compatiable with RS485 standard, an external driver (e.g. DS3695N) is
needed.
Auto baud rate detection
The method is provided by ingenia bootloader

(http://www.opencircuits.com/DsPIC30F_5011_Development_Board) .
The PC sends a ASCII character 'U' (0x55) to the target board.
On the first rising edge of the start bit, the target board starts the timer.
At the fifth rising edge, the timer is stopped, let the count number be t_count.
The measured period corresponds to 8 bits transmitted at a baud rate uxbrg.
_ _ _ _ _ _
_|S|_|1|_|1|_|1|_|1|_|S|_ (S = Start Bit)
<--------------->
Measured Time
The relationship between uxbrg and TMR is
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Measured Time (in seconds) = t_count/Fcy

uxbrg = 1/(Measured Time/8)
= 8*Fcy/t_count
Since UxBRG is computed by:
UxBRG = (Fcy/(16*Baudrate)) -1
= (Fcy/(16*8*Fcy/t_count)) -1
= t_count/128 -1
The following is the code for auto baud rate detection for U2ART:
unsigned int uart2_autobaud(void){

U2MODEbits.ABAUD = 1; //Enable Autobaud detect from U2RX (from IC2 if 0)
U2MODEbits.UARTEN = 1; //U2ART enable
//Timer 3 Config==========================================================
PR3 = 0xFFFF; // Set counter to maximum
_T3IE = 0; // Disable interrupt
T3CONbits.TON = 1; // Start the timer, TMR3 count up
//Input Capture Config====================================================
IC2CONbits.ICM = 3; //Detect rising
_IC2IF = 0; //Clear interrupt flag
_IC2IE = 0; //Disable interrupt
//Start Auto baud detection===============================================
unsigned int i=0;
cli(); //Disable Global Interrupt
while(!_IC2IF); //1st rising edge detected
TMR3 = 0; //Clear TMR3 to start count up
while(!_IC2IF); //2nd rising edge detected
while(!_IC2IF); //3rd rising edge detected
while(!_IC2IF); //4th rising edge detected
while(!_IC2IF); //5th rising edge detected
T3CONbits.TON = 0; //Stop the timer
sti(); //Enable Global Interrupt
//Compute value for BRG register==========================================
unsigned int time;
time = ((TMR3+0x40)>>7)-1; //+0x40 for rounding
//========================================================================
return time;
}
For 30MIP, tested speeds of transmission include 9600bps, 19200bps, 28800bps, 38400bps and
57600bps.
Initialize UART
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void uart2_init(void){
//=================================================================
// Configure Baud rate
// +-- Default Baud rate = 19.2 kbps
// +-- U2BRG = 30e6 / (16 * 19200) - 1 = 97
unsigned int u2brg = 97;
#if(AUTO_BAUD_DECT>0)
u2brg = uart2_autobaud();
#endif
U2BRG = u2brg;
//=================================================================
// Disable U2ART
U2MODEbits.UARTEN = 0; //Disable U2ART module
//=================================================================
// Configure Interrupt Priority
_U2RXIF = 0; //Clear Rx interrupt flags
_U2TXIF = 0; //Clear Tx interrupt flags
_U2RXIE = 1; //Receive interrupt: 0 disable, 1 enable
_U2TXIE = 1; //Transmit interrupt: 0 disable, 1 enable
//=================================================================
// Configure Mode
// +--Default: 8N1, no loopback, no wake in sleep mode, continue in idle mode
// +--Diable autobaud detect
// +--Enable U2ART module
U2MODEbits.ABAUD = 0; //Disable Autobaud detect from U2RX
U2MODEbits.UARTEN = 1; //U2ART enable
//=================================================================
// Configure Status
// +--Default: TxInt when a char is transmitted, no break char
// +--Default: RxInt when a char is received, no address detect, clear overflow
// +--Enable Transmit
U2STAbits.UTXEN = 1; //Tx enable
}
Sending and Receiving Data
void _ISR _U2TXInterrupt(void){

_U2TXIF = 0; //Clear Interrupt Flag
if(tx_data_ready())
U2TXREG = tx_buf[POS]; //send next byte...
}
void _ISR _U2RXInterrupt(void){
_U2RXIF = 0; //Clear the flag
if ( U2STAbits.URXDA ){
rx_buf[POS] = (unsigned char) U2RXREG; //Read the data from buffer
}
}
I2C
Two lines are devoted for the serial communication. SCL for clock, SDA for data.
Standard communication speed includes
1. Standard speed mode: 100kHz

2. Fast speed mode: 400kHz
3. High speed mode: 3.4MHz
dsPIC30f5011 supports standard and fast speed modes. The maximum speed attainable is 1MHz.
Pull-up resistors are required for both SCL and SDA. Minimum pull-up resistance is given by:
Pull-up resistor (min) = (Vdd-0.4)/0.003 ...... [See section 21.8 in Family reference manual]
2.2Kohm is typical for standard speed mode.

After initiating a start/stop/restart bit, add a small delay (e.g. no operation) before polling the
corresponding control bit (hardware controlled). For example:
15 от 34 05.3.2007 г. 14:43
StartI2C();
Nop(); //A small delay for hardware to respond
while(I2CCONbits.SEN); //Wait till Start sequence is completed
After sending a byte and receiving an acknowledgement from the slave device, ensure to change to idle
state. For example:
MasterWriteI2C(0x55);
while(I2CSTATbits.TBF); //Wait for transmit buffer to empty
while(I2CSTATbits.ACKSTAT); //Wait for slave acknowledgement
IdleI2C();
ADC
12-bit ADC: (Max 16 Channels)

Allow a maximum of 2 sets of analog input multiplexer configurations, MUX A and MUX B (Normally
use one only).
A maximum of 200kps of sampling rate when using auto sampling mode.
Configuration
Interrupt: Clear ADC interrupt flag and enable ADC interrupt. The ADC module will be set to interrupt
when the specified channels are updated.
_ADIF = 0; //clear ADC interrupt flag

_ADIE = 1; //enable adc interrupt
I/O: Set the corresponding TRISBX bits (digit i/o config) to input (i.e. = 1), and set corresponding bits in
ADPCFG (analog config) to zero.
_TRISB2 = 1; //Set AN2 [Case Temp] as analog input

_TRISB8 = 1; //Set AN8 [Power detect 0] as analog input
_TRISB9 = 1; //Set AN9 [Power detect 1] as analog input
_TRISB10 = 1; //Set AN10 [Current detect 0] as analog input
_TRISB11 = 1; //Set AN11 [Temp detect 0] as analog input
ADPCFG = 0xF0FB; //0 => Analog, 1 => Digital
Scanning Mode: Scan mode is used. In this mode, the Sample and Hold (S/H) is switched between the
channels specified by ADCSSL (Scan select register).
ADCSSL = 0x0F04; //0 => Skip, 1 => Scan
Reference Voltage for S/H: Only MUX A is used. By default, the negative reference voltage of the S/H is
connected to VREF-.
ADCHSbits.CH0NA = 0;
Sampling Rate: T AD refers to the time unit for the ADC clock. To configure the ADC module at 200kbps,
the minimum sampling time of 1T AD = 334ns is required. ADCS<5:0> in ADCON3 register is used to set
the time, which is given by:
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ADCS<5:0> = 2(TAD/TCY)-1
= 2(334e-9/33.34e-9)-1
= 19
ADCON3bits.SAMC = 1; //1TAD for sampling time

ADCON3bits.ADRC = 1; //Use internal ADC clock
ADCON3bits.ADCS = 19; //Set TAD = 334ns
Settings for ADC Operation: For 200kbps operation, the voltage references for the ADC voltage are
connected to VREF+ and VREF-. Scan input is enabled, and the module will generate an interrupt when all
selected channels have been scanned.
ADCON2bits.VCFG = 3; //External Vref+, Vref-

ADCON2bits.CSCNA = 1; //Scan input
ADCON2bits.SMPI = 4; //take 5 samples (one sample per channel) per interrupt
More Settings for ADC Operation: Turn on the module, select the data output format as unsigned integer,
and allow auto setting of SAMP bit (auto sampling).
ADCON1bits.ADON = 1; //Turn on module

ADCON1bits.FORM = 0; //[2 fractional]; [3 siged fractional]
ADCON1bits.SSRC = 7; //auto covert, using internal clock source
ADCON1bits.ASAM = 1; //auto setting of SAMP bit
Storing ADC Data
16 registers (ADCBUF0 -ADCBUF15) are dedicated to store the ADC data between interrupts. However,
the data in ADCBUFx does not necessarily correspond to the data taken for channel x. Since the lowest
register will always be filled first, when some of the channels are not scanned (i.e. skipped), care must be
taken. The following code checks the ADCSSL register for the current scanning channels and moves the
data to the corresponding position in *adc_buf.
void _ISR _ADCInterrupt(void){

_ADIF = 0; //Clear adc interrupt
//==========================================================
unsigned char channel = 0;
unsigned char buffer = 0;
for (; channel<ADC_MAX_CH; channel++){
if(adc_ch_updated(channel)){ //Check if channel has updated
adc_buf[channel] = ADC16Ptr[buffer]; //Copy data to adc_buf
buffer++;
}
}
}
unsigned char adc_ch_updated(unsigned char ch){
unsigned int mask;
mask = 0x0001 << ch;
if(ADCSSL & mask)
return 1;
return 0;
}
Adding and Removing Channels
Channels may be added or removed by changing _TRISBX, ADPCFG, ADCSSL and

ADCON2bits.SMPI.
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void adc_add_ch(unsigned char ch){

//Enable i/o pin as input===========================================
switch(ch){
case 0: _TRISB0 = 1; break;
default: _TRISB15 = 1;
}
unsigned int mask;
mask = 0x0001 << ch;
ADCSSL = ADCSSL | mask;
ADPCFG = ~ADCSSL;
ADCON2bits.SMPI++; //take one more sample per interrupt
}
void adc_rm_ch(unsigned char ch){
unsigned int mask;
mask = 0x0001 << ch;
ADPCFG = ADPCFG | mask;
ADCSSL = ~ADPCFG;
ADCON2bits.SMPI--; //take one less sample per interrupt
}
EEPROM
5011 has 1024 bytes of EEPROM, readable and writable under normal voltage (5V).
To use, declare:
unsigned char _EEDATA(2) eeData[1024]={ 0x00, 0x00, 0x00, 0x00, .... }

unsigned int byte_pointer = 0;
Seek
This function moves the pointer to the desired position before a reading/writing operation is performed.
int eeprom_lseek(int offset, unsigned char whence){

byte_pointer = offset;
return byte_pointer;
}
Read
This function read count bytes from the eeprom.
int eeprom_read(unsigned char* buf, int count){

int i=0;
for(; i<count && byte_pointer < 1024; i++){
readEEByte( __builtin_tblpage(eeData),
__builtin_tbloffset(eeData) + byte_pointer,
&buf[i]);
byte_pointer++; //Update global pointer
}
return i; //read i bytes successful
}
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readEEByte() is implemented in assembly code as follows:
.global _readEEByte
_readEEByte:
push TBLPAG ;w0 = base of eeData
mov w0, TBLPAG ;w1 = offset for eeData in byte
tblrdl.b [w1], [w2] ;w2 = pointer to user buffer
pop TBLPAG
return
Write
This function write count bytes to eeprom.
int eeprom_write(unsigned char* buf, int count){

char isOddAddr = byte_pointer%2; //current address is odd
char isOddByte = count%2; //number of bytes to write is odd
//=================================================================
unsigned int word_offset = byte_pointer>>1; //div by 2 and round down
int max_write;
max_write = (isOddAddr == 0 && isOddByte == 0) ? (count>>1) : (count>>1)+1;
//=================================================================
unsigned int word_data; //Store word to be written
int byte_wr = 0; //number of bytes written, i.e buffer pointer
int i = 0;
//=================================================================
for(; i<max_write && word_offset<512; i++, word_offset++){
if(i==0 && isOddAddr){
//First byte not used
//============================================save first byte
__builtin_tbloffset(eeData) + byte_pointer - 1,
&word_data);
//===========================================================
word_data = ((unsigned int)buf[0] << 8) + (0xFF & word_data);
byte_wr++; //Update buffer pointer
} else if(i==max_write-1 && ((isOddAddr && sOddByte==0)||(isOddAddr==0 && isOddByte))){
//Last byte not used
//=============================================save last byte
__builtin_tbloffset(eeData) + byte_pointer + 1,
&word_data);
//============================================================
word_data = (word_data << 8) + buf[byte_wr];
byte_wr++; //Update buffer pointer
} else{
//Both bytes valid
word_data = ((unsigned int)buf[byte_wr+1] << 8) + buf[byte_wr];
byte_wr+=2; //Update buffer pointer
byte_pointer+=2; //Update global pointer
}
//==================================================================
eraseEEWord( __builtin_tblpage(eeData),
__builtin_tbloffset(eeData) + 2*word_offset);
writeEEWord( __builtin_tblpage(eeData),
__builtin_tbloffset(eeData) + 2*word_offset,
&word_data);
//==================================================================
}
return byte_wr; //No. of byte written
}
eraseEEWord and writeEEWord are implemented in assembly.
19 от 34 05.3.2007 г. 14:43
.global _eraseEEWord
_eraseEEWord:
push TBLPAG
mov w0, NVMADRU ;w0 = base of eeData
mov w1, NVMADR ;w1 = offset for eeData in word
mov #0x4044, w0
mov w0, NVMCON ;Set to erase operation
push SR ;Disable global interrupts
mov #0x00E0, w0
ior SR
mov #0x55, w0 ;Write the KEY sequence
mov w0, NVMKEY
mov #0xAA, w0
mov w0, NVMKEY
bset NVMCON, #15 ;Start the erase cycle, bit 15 = WR
nop
nop
L1: btsc NVMCON, #15 ;while(NVMCONbits.WR)
bra L1
clr w0
pop SR ;Enable global interrupts
pop TBLPAG
return
.global _writeEEWord
_writeEEWord:
push TBLPAG ;w0 = base of eeData
mov w0, TBLPAG ;w1 = offset for eeData in byte
tblwtl [w2], [w1] ;w2 = pointer to user buffer
mov #0x4004, w0 ;Set to write operation
MOV w0, NVMCON
push SR ;Disable global interrupts
mov #0x00E0, w0
ior SR
mov #0x55, w0 ;Write the KEY sequence
mov w0, NVMKEY
mov #0xAA, w0
mov w0, NVMKEY
bset NVMCON, #15 ;Start the erase cycle, bit 15 = WR
nop
nop
L2: btsc NVMCON, #15 ;while(NVMCONbits.WR)
bra L2
clr w0
pop SR ;Enable global interrupts
pop TBLPAG
return
Simple PWM (Output Compare Module)
The PWM module consists of 8 channels using the output compare module of dsPic.
These channels are locate at pin 46 (OC1), 49 (OC2), 50 (OC3), 51 (OC4), 52 (OC5), 53 (OC6), 54
(OC7), 55 (OC8). These pins are shared with port D.
The range of PWM freqeuencies obtainable is 2Hz to 15MHz (See Figure 6.3). Suggested range of
operation is 2Hz to 120kHz. The relationship between resolution r and PWM frequency fPWM is given by:
fPWM = fCY/(Prescale*10rlog(2))
Table 6.3 Relationship of Resolution and PWM Frequency

Resolution (bit) Prescale=1 Prescale=8 Prescale=64 Prescale=256
1 15,000,000 1,875,000 234,375 58,594
2 7,500,000 937,500 117,188 29,297
3 3,750,000 468,750 58,594 14,648
4 1,875,000 234,375 29,297 7,324
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5 937,500 117,188 14,648 3,662

6 468,750 58,594 7,324 1,831
7 234,375 29,297 3,662 916
8 117,188 14,648 1,831 458
9 58,594 7,324 916 229
10 29,297 3,662 458 114
11 14,648 1,831 229 57
12 7,324 916 114 29
13 3,662 458 57 14
14 1,831 229 29 7
15 916 114 14 4
16 458 57 7 2
open()
A timer (either Timer 2 or 3) is needed to determine the pwm period. The following code uses timer 2 for
all 8 channels.
void pwm_open(void){
OC1CON = 0; OC2CON = 0; //Disable all output compare modules
OC3CON = 0; OC4CON = 0;
//============================================================
TMR2 = 0; // Clear register
PR2 = 0xFFFF; // Set to Maximum
//============================================================
_T2IP = 7; // Set priority level to 7 (7 Highest)
_T2IE = 1; // Enable interrupts
//============================================================
T2CONbits.TCS = 0; // Use internal clock source
T2CONbits.TCKPS = 0; // Prescale Select 1:1
//============================================================
T2CONbits.TON = 1; // Start the timer
}
void _ISR _T2Interrupt(void){
}
ioctl()
User should select the channel and set the pwm period using the functions below before issuing the duty
cycle:
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char pwm_ioctl(unsigned char request, unsigned long* argp){

unsigned int value;
unsigned char mask;
switch(request){
case PWM_SET_PERIOD:
return setPeriodNPrescale(argp[0]);
case PWM_SELECT_CH:
pwm_channel = argp[0];
mask = 0x01 << pwm_channel;
pwm_status = pwm_status | mask;
return 0;
default:
return -1;
}
}
char setPeriodNPrescale(unsigned long value_ns){
unsigned long ans;
unsigned long long numerator = (unsigned long long)value_ns*SYSTEM_FREQ_MHZ;
unsigned char index= -1;
unsigned long denominator;
//-------------------------------------------------
do{
denominator = (unsigned long)1000*pwm_prescale[++index];
ans = (unsigned long)(((long double)numerator/denominator) + 0.5) - 1; //rounding to nearest integer
} while(ans > 0x0000FFFF && index < 3);
//-------------------------------------------------
if(ans > 0x0000FFFF)
return -1;
//-------------------------------------------------
T2CONbits.TON = 0; // Turn off the timer
T2CONbits.TCKPS = index; // Change prescale factor
PR2 = (unsigned int) ans; // Set to Maximum
T2CONbits.TON = 1; // Turn on the timer
//-------------------------------------------------
return 0;
}
write()
User can change the duty cycle using teh following functions
int pwm_write(unsigned long* buf){

if((pwm_status & (0x01 << pwm_channel)) == 0){
return -1; //Channel has not been enabled
}
switch(pwm_channel){
case 0:
OC1RS = calcDCycle(buf[0]); OC1R = OC1RS;
OC1CONbits.OCM = 6; //Simple PWM, Fault pin disabled
break;
case 1:
break;
...
case 7:
break;
default:
return -1;
}
return 4;
}
unsigned int calcDCycle(unsigned long value_ns){
unsigned long long numerator = (unsigned long long)value_ns*SYSTEM_FREQ_MHZ;
unsigned int index = T2CONbits.TCKPS;
unsigned long denominator = (unsigned long)1000*pwm_prescale[index];
return (unsigned int)(((long double)numerator/denominator) + 0.5) - 1; //rounding to nearest integer
}
Propagration Delay
PWM channels sharing the same timer will have their PWM signals synchronised (i.e. the HIGH state of
22 от 34 05.3.2007 г. 14:43
the duty cycle are all triggered together).

To introduced delay to the PWM signals, the signal from selected channels may be made to pass through a
series of inverters (e.g. 74HC14D). This adds propagation delay to the signal.
However, as propagration delay of logic gates depends on applied voltage, temperature and load
capacitance, the accuracy is low and performance is poor. For accurate delay, delay lines may be used,
but they are expensive.
Table 6.4 Propagation Delay of Philips 74HC14D

(http://www.nxp.com/acrobat_download/datasheets/74HC_HCT14_3.pdf) [1], [2]
3.3V 5.0V
Number of Gates A B C A B C
2 21ns (10.5) 23ns (11.5) 22ns (11.0) 15ns (7.5) 14ns (7.0) 14ns (7.0)
4 45ns (11.3) 46ns (11.5) 46ns (11.5) 30ns (7.5) 30ns (7.5) 30ns (7.5)
6 69ns (11.5) 70ns (11.7) 72ns (12.0) 45ns (7.5) 46ns (7.7) 47ns (7.8)
[1] Data in specification for 4.5V: Typical 15ns, Maximum 25ns

[2] Data in specification for 6.0V: Typical 12ns, Maximum 21ns
DSP Library
Library functions in <dsp.h> include the following categories:
1. Vector
2. Window
3. Matrix
4. Filtering
5. Transform
6. Control
Data Types
Signed Fractional Value (1.15 data format)

Inputs and outputs of the dsp functions adopt 1.15 data format, which consumes 16 bits to represent
values between -1 to 1-2-15 inclusive.
Bit<15> is a signed bit, positive = 0, negative = 1.
Bit<14:0> are the exponent bits e.
Positive value = 1 - 2-15*(32768 - e)
Negative value = 0 - 2-15*(32768 - e)
40-bit Accumulator operations (9.31 data format)
The dsp functions use the 40 bits accumalators during arithmatic calculations.
Bit<39:31> are signed bits, positive = 0x000, negative = 0x1FF.
Bit<30:0> are exponent bits.
IEEE Floating Point Values
Fractional values can be converted to Floating point values using: fo = Fract2Float(fr); for fr = [-1,
1-2-15]
Floating point values can be converted to Fractional values using: fr = Float2Fract(fo); or fr =
Q15(fo); for fo = [-1, 1-2-15]
Float2Fract() is same as Q15(), except having saturation control. When +ve >= 1, answer = 215-1 =
32767 (0x7FFF). When -ve < -1, answer = -215 = -32767 (0x8000)
23 от 34 05.3.2007 г. 14:43
Overflow and Saturation Traps
To be added.
Build-in Library
Some assembler operators can only be accessed by inline assembly code, for example,
1. Manuipulation of accumulators A and B (add, sub, mul, divide, shift, clear, square)
2. Bit toggling
3. Access to psv (program space visiblity) page and offset
4. Access to table instruction page and offset
Built-in functions are written as C-like function calls to utilize these assembler operators.
Bootloader Development
Concepts
Programming with ICSP is useful when the target board is produced in batch. The producer can download
a program even when the chip is on the target board.
However, ICSP requires an external programmer.
To allow the user to change the program after production but without the need of an external programmer,
bootloader becomes useful.
Bootloader is a small program installed via ICSP. Everytime the device is reset, the bootloader is run first.
The bootloader first detects the default serial channel whether the user wishes to download a new program
to the device. If so, the bootloader will pause there, and wait for the user to download the hex file from the
PC. The hex file is written to the device via RTSP instructions in the bootloader. If a new download is not
necessary, the bootloader redirects to the previously installed user's program.
The disadvantage of bootloaders is that they consume some of the memory of the device.
24 от 34 05.3.2007 г. 14:43
Developer Source
ingenia (http://www.ingenia-cat.com/index.php?lang=en) Assembly (http://www.ingenia-cat.com/download/iBL.s
Tiny Assembly
(http://www.etc.ugal.ro/cchiculita/software/picbootloader.htm) (http://www.etc.ugal.ro/cchiculita/software/tinybld191.zip
Elektronika (http://www.via.si/software/dsPIC_bootloader/) Hex (http://www.via.si/software/dsPIC_bootloader/data/
dsPicBootloader
The bootloader developed by ingenia is open source and it has been modified (see below) to suit our
development using dsPic30f5011.
The bootloader (hereafter called dsPicBootloader) employs the following settings:
1. Use U2ART channel

2. Use FRC, PLL16
3. For 5011, the bootloader is located between 0x00AE00 to 0x00AFFE (512bytes). Refer to C:\Program
Files\Ingenia\ingeniadsPICbootloader\ibl_dspiclist.xml after installing the GUI interface.
Changes made to assembly code (http://www.ingenia-cat.com/download/iBL.s) includes:
1. including p30f5011.gld and p30f5011.inc
.include "p30f5011.inc"
2. changing the config code of UART #0x8420 -> #0x8020
; Uart init
mov #0x8020, W0 ; W0 = 0x8020 -> 1000 0000 0010 0000b
mov W0, U2MODE ; Enable UART, AutoBaud and 8N1
clr U2STA
3. changing the start address 0xAE00 - 0x0100 = 0AD00
25 от 34 05.3.2007 г. 14:43
.equ CRC, W4
.equ ACK, 0x55
.equ NACK, 0xFF
.equ USER_ADDRESS, 0x0100
.equ START_ADDRESS, 0xAD00 ; Relative to 0x0100
4. using Internal FRC and PLL16
config __FOSC, CSW_FSCM_OFF & FRC_PLL16 ;Turn off clock switching and
;fail-safe clock monitoring and
;use the Internal Clock as the
;system clock
5. disabling MCLR (optional)
config __FBORPOR, PBOR_ON & BORV_27 & PWRT_16 & MCLR_DIS

;Set Brown-out Reset voltage and
;and set Power-up Timer to 16msecs
6. changing all the related registers of U1ART to U2ART, all U1XXX => U2XXX
U2MODE, U2STA, U2BRG, U2RXREG, U2TXREG
7. changing all the related registers of IC1 to IC2, all IC1XXX => IC2XXX
IC2CON, #IC2IF, #IC2IE
dsPicProgrammer (Java-based Multi-Platformed)
Ingenia developed a programmer (PC-side) that works only in Windows environment. The project for
Linux environment is currently suspended.
A simple programmer (hereafter called dsPicProgrammer) written in Java based on the library developed
by RXTX (http://www.rxtx.org/) has been developed here. The programmer supports both Linux and
Windows environments, and may be used as a substitution for the official programmer developed by
ingenia.
The programmer has the following specification and limitations:
1. Use baud rate of 57600bps (Not selectable).

2. Only program dsPic30f5011 devices (Developers may change the source code for your devices).
3. Protection against overwriting bootloader codes on devices.
4. Dectection if application program does not have its reset() at address 0x100.
Special Consideration
The bootloader assumes that the user program starts at address 0x100. This is usually the case, but there
are always exceptions.
To ensure that the user program always starts at address 0x100, you can create a customized linker script
and customized reset() function as follows:
Copy and modify the file named "crt0.s" from the directory "C:\Program Files\Microchip\MPLAB
C30\src\pic30" to the project directory and include it.
.section .reset, code //previously .section .libc, code
26 от 34 05.3.2007 г. 14:43
Copy and modify the linkerscript for the device (e.g. p30f5011.gld) to the project directory and
include it.
.text __CODE_BASE :
{
*(.reset); //<-insert this line here
*(.handle);
*(.libc) *(.libm) *(.libdsp); /* keep together in this order */
*(.lib*);
*(.text);
} >program
Downloads
Table 7.2 dsPicBootloader and dsPicProgrammer for dsPIC30f5011

Program Site 1 Site 2
dsPicBootloader click click
(http://chungyan5.no-ip.org/websvn/listing.php) (http://www.opencircuits.com/images/e/ed/DsPicBootl
dsPicProgrammer click click

(http://chungyan5.no-ip.org/websvn/listing.php) (http://www.opencircuits.com/images/1/13/DsPicProgr
Communication Protocol
Communication Protocol is reviewed in ingenia bootloader user's guide

(http://www.ingenia-cat.com/reference/pdf/iBL.UG.V1.2.pdf) section 2.1.3. The following summarises the
key steps on the PC side (Refer also to section 2.2.2).
Transmission is conducted in 8N1, i.e. 8-bit, no parity, 1 stop-bit
Stage 1: User's configuation
Select a baudrate
Select a COM port channel
Stage 2: Autobaud rate detection and version control
Continuously sending a character "U" [0x55] via COM port
Continuously waiting for an acknowledgment character "U", [ACK] = [0x55]
Send command character [0x03]
Receive 3 characters 1) Major Version 2) Minor Version 3) Acknowledgment [0x55]
Prints the version number [Major.Minor] (e.g. 1.1) on screen.
Stage 3: Loading and writing the program
27 от 34 05.3.2007 г. 14:43
Load the user hex file, check integrity.

Start loading file using:
Read command character [0x01] + 24-bit address [High][Medium][Low]
Receive 4-byte data [High][Medium][Low][ACK]
Write command character [0x02] + 24-bit address [High][Medium][Low]+ Number of bytes
[N] + [data 0] + [data 1] + ... + [data N-1] + [CRC]=(INTEL HEX8 Checksum - Sum modulo
256)
Receive [ACK] or [NACK] = [0xFF]
Note: Writing is in row mode access (i.e. erase and write a whole row, each row has 32
instructions, or 96 bytes because each instruction has 24 bits)
1. Ensure the initial address of writing match an initial row position,

2. Send the data corresponding to the whole row.
USB-RS232 Bridge
As USB ports are becoming more and more common, COM ports and Parallel ports may be redundant in
the next few years. This section explore the possibilities of programming the target board through a USB
port.
There are two options:
1. Use an external USB/RS232 adaptor, the driver will emulate a virtual COM port, such as Prolific
(http://www.prolific.com.tw/eng/downloads.asp?ID=31) and FDTI
(http://www.ftdichip.com/Drivers/VCP.htm) . Ingenia has tested its bootloader with some USB-232
manufacturers (silabs, FTDI, etc..). However, the programming failed with our Prolific adapter.
Application program may use JavaComm API (http://java.sun.com/products/javacomm/) (javax.comm)
and/or RXTX (http://www.rxtx.org/) to drive the COM port.
2. Modified the bootloader program on PC to support USB communication. e.g. using jUSB
(http://jusb.sourceforge.net/) and JSR-80 (http://javax-usb.org/) (javax.usb). External circuits such as
PIC18F4550 and MAX232 are required.
|--User's App.--|-------Device Manager------|-------USB-RS232 Interface------|---dsPIC---|

Option 1:
+-------------+ +----------+ +----------+ +---+ +------------+ +-----+ +--------+
| Application |--| JavaComm |--| Virtual |==|USB|--| FDTI |--|RS232|==| Target |
| Program | | RXTX | | COM Port | +---+ | Circuitary | +-----+ | Board |
+-------------+ +----------+ +----------+ +------------+ +--------+
Option 2:
+-------------+ +--------+ +---+ +------------+ +-----+ +--------+
| Application |----------| JSR-80 |==========|USB|--| PIC18F4550 |--|RS232|==| Target |
| Program | | jUSB | +---+ | MAX232 | +-----+ | Board |
+-------------+ +--------+ +------------+ +--------+
Currently, when RXTX is incorporated with JavaComm API, operating systems supported include Linux,
Windows, Mac OS, Solaris and other operating systems. On the other hand, jUSB and JSR-80 only works
for linux.
FDTI Chipset
FT232RL communicates with PC via USB to provide 1 UART channel.

Datasheet can be downloaded here (http://www.ftdichip.com/Documents/DataSheets/DS_FT232R.pdf) .
Refer to Fig. 11 (Page 19) for Bus Powered Configuration.
Refer to Fig. 16 (Page 24) for for UART TTL-level Receive [RXD -> 1], Transmit [TXD -> 4],
Transmit Enable [CBUS2/TXDEN -> 3]. Omit Receive Enable [CBUS3/PWREN#] and use
[CBUS2/TXDEN -> 2]
Refer to Fig. 15 (Page 23) for LED Configuration: [CBUS0/TXLED#] and [CBUS1/RXLED#]
28 от 34 05.3.2007 г. 14:43
Virtual COM Port Drivers can be downloaded here (http://www.ftdichip.com/Drivers/VCP.htm) .
Programming the Device

Requirements
Hardware
1. PC with COM port (Windows XP Installed for MPLAB)

2. ICD2 Programmer
3. Target Board
4. 5V Power Supply
Software
1. MPLAB IDE v7.50 or higher (http://ww1.microchip.com/downloads/en/DeviceDoc/MP750.zip)

2. dsPicProgrammer (http://chungyan5.no-ip.org/websvn/listing.php) (dsPicProgrammer.jar)
3. RXTX driver (http://users.frii.com/jarvi/rxtx/download.html)
Files
1. dsPicBootloader (http://chungyan5.no-ip.org/websvn/listing.php) (ingenia.hex). Original assembly code

by ingenia can be downloaded from here (http://www.ingenia-cat.com/download/iBL.s) .
2. Application hex file (e.g. app.hex)
Loading Bootloader (Once only)
29 от 34 05.3.2007 г. 14:43
Table 9.1 Loading Bootloader

Step Remarks
Install MPLAB IDE
(http://ww1.microchip.com/downloads/en/DeviceDoc/MP750.zip) Do NOT connect ICD 2 (via USB) to PC
Execute MPLAB vX.XX Install.exe
Install USB Driver

Follow the instruction in (C:\Program Files\Microc
IDE\ICD2\Drivers\Ddicd2.htm)
Select Target Chip

Run MPLAB IDE on PC
Select: Configure>Select Devices...
Choose dsPIC30F5011
Target <-> ICD 2

Use six pin cable. Beware of the pin assignments. O
should be used.
Place Jumper on target board (if any). The Jumper
Vcc to ICD 2.
Do NOT power-up the target.
ICD 2 <-> PC
Plug-in ICD 2 to PC via USB cable
Power-up the target.
Select: Programmer>Select Programmer>MPLAB
If this is the first time the ICD 2 is connected to PC
will automatically download the required OS to IC
it has finished
If you have not connected and powered up the targ
see Warnings on invalid device IDs, and/or running
See results of self test if necessary: Programmer>S
Tab. Refer to ICD2 User's Guide
(http://ww1.microchip.com/downloads/en/DeviceD
Chapter 7.
Load Bootloader
Select: File>Import...
Select ingenia.hex
Start Programming
Select: Programmer>Program
Finishing
Power-down the Taget
Select: Programmer>Select Programmer>None
Unplug USB cable
Loading Application
30 от 34 05.3.2007 г. 14:43
Table 9.2 Loading Application File

Step Remarks
Install RXTX
For Windows User:
copy RXTXcomm.jar to \jre\lib\ext (under java)
copy rxtxSerial.dll to \jre\bin
For Linux User:
copy RXTXcomm.jar to /jre/lib/ext (under java)
copy librxtxSerial.so to /jre/lib/[machine type] (i386 for instance)
Connect target board

For Windows User:
connect to COM1 (or other useable port)
For Linux User:
connect to ttyS0 (or other useable port)
Open a console window

In Windows, Start>Run, and type cmd.
Start Programming
Change to the directory containing dsPicProgrammer.jar
Execute dsPicProgrammer.jar
For Windows User: java -jar dsPicProgrammer.jar COMi
Y:\foo2\app.hex
For Linux User: java -jar dsPicProgrammer.jar /dev/ttySi
Y:/foo2/app.hex
Power-up target board
Finishing
Power-down target board
Disconnect from COM port
Remote Access
At the moment, local devices (e.g. EEPROM, ADC, DAC, etc.) can only be accessed locally through
POSIX functions such as open(), read(), write(), ioctl().
However, a client may need to access these devices on a remote server. This section reviews the
background and gives some ideas on its possible implementation.
Requirements
A remote file access protocol, to transfer "files" (i.e. device's data) such as:
1. File Transfer Protocol (http://en.wikipedia.org/wiki/FTP) (FTP): Required files are copied from sever to
client for manipulation
2. Remote Shell (http://en.wikipedia.org/wiki/Remote_Shell) (RSH): Required files are copied from sever to
client for manipulation
3. Network File System (http://en.wikipedia.org/wiki/Network_File_System_%28Sun%29) (NFS): Required
files are manipulated on sever
31 от 34 05.3.2007 г. 14:43
An API to access files using a selected protocol, such as:
1. lam_rfposix (http://www.die.net/doc/linux/man/man2/lam_rfposix.2.html) : A POSIX-like remote file

service for Local Area Multicomputer
2. API employed by VxWorks: VxWorks (http://en.wikipedia.org/wiki/VxWorks) is a Unix-like real-time
operating system, commonly used for embedded systems.
API Reference for VxWorks
Reference:
VxWorks Official Website (http://www.windriver.com/vxworks/)
OS Libraries API Reference (http://www-cdfonline.fnal.gov/daq/commercial/)
Related Libraies
netDrv (netDrv.h): an API using FTP or RSH
nfsDrv (nfsDrv.h): an API using NFS
Conversion to dsPIC33F Devices (Not Tested)

This section discusses the conversion required from dsPIC30F5011 to dsPIC33FJ128GP306.
Refer to official document dsPIC30F to dsPIC33F Conversion Guidelines
(http://ww1.microchip.com/downloads/en/DeviceDoc/70172A.pdf) (DS70172A).
Note that this section does not intend to introduce the new functionalities of dsPIC33F devices. It only
serves the purpose to summarise the major (if not minimum) changes required to port the setup of
dsPIC30 to dsPIC33 devices.
Hardware
dsPIC33 operates at voltage of 3.3V. A voltage regulator, such as LM3940

(http://www.national.com/ds.cgi/LM/LM3940.pdf) can be used to convert 5V supply to 3.3V.
A 1uF capacitor has to be placed at pin 56 (previously VSS, now VDDCORE).
Software
Configuration Bits
dsPIC33 can operate at 40MIPs at maximum. To configure the device using internal FRC, replace the
configuration bits setting as follows:
_FOSCSEL(FNOSC_FRCPLL); // FRC Oscillator with PLL

_FOSC(FCKSM_CSDCMD & OSCIOFNC_OFF & POSCMD_NONE);
// Clock Switching and Fail Safe Clock Monitor is disabled
// OSC2 Pin Function: OSC2 is Clock Output
// Primary Oscillator Mode: Disabled
_FWDT(FWDTEN_OFF); // Watchdog Timer Enabled/disabled by user software
Configure on-chip PLL at runtime as follows (at start of main function):
32 от 34 05.3.2007 г. 14:43
_PLLDIV = 38; // M=40: PLL Feedback Divisor bits

_PLLPOST1 = 0; _PLLPOST0 = 0; // N1=2: PLL VCO Output Divider Select bits
_PLLPRE4 = 0; _PLLPRE3 = 0; // N2=2: PLL Phase Detector Input Divider bits
_PLLPRE2 = 0; _PLLPRE1 = 0; _PLLPRE0 = 0;
OSCTUN = 0; // Tune FRC oscillator, if FRC is used;
// 0: Center frequency (7.37 MHz nominal)
// 22: +8.25% (7.98 MHz)
RCONbits.SWDTEN = 0; // Disable Watch Dog Timer
while(OSCCONbits.LOCK != 1); // Wait for PLL to lock
UART
No change is required.
I2C
dsPIC33 supports upto 2 I2C devices. As a result, replace all I2C related registers with xxI2Cyy to
xxI2C1yy. For examples:
_SI2C1IF = 0; //Clear Slave interrupt

_MI2C1IF = 0; //Clear Master interrupt
_SI2C1IE = 0; //Disable Slave interrupt
_MI2C1IE = 0; //Disable Master interrupt
I2C1BRG = I2C_BRG; // Configure Baud rate
I2C1CONbits.I2CEN = 1;
...
etc.
ADC
There are upto 2 configurations of the ADC module. Replace all ADC-related registers ADxxx to
AD1xxx. For examples:
volatile unsigned int* ADC16Ptr = &ADC1BUF0;

AD1CHS0bits.CH0NA = 0;
AD1CON3bits.SAMC = 1; //1TAD for sampling time
AD1CON2bits.VCFG = 3; //External Vref+, Vref-
AD1CON1bits.ADON = 1; //Turn on module
...
etc.
Set ADC to use 12-bit modes:
AD1CON1bits.AD12B = 1; //12-bit, 1-channel ADC operation
dsPIC33 have upto 32 ADC channels. The configurations for each channel is therefore splited into 2
registers (High controls channels 16-31; Low controls channels 0-15).
//===========================================================================
// Configure analog i/o
_TRISB0 = 1;
_TRISB1 = 1;
AD1PCFGL = 0xFFFC; //AN0-AN15: Enable AN0 (Vref+) and AN1 (Vref-)
AD1PCFGH = 0xFFFF; //AN16-AN31: Disabled
//===========================================================================
// Configure scan input channels
AD1CSSL = 0x0003; //AN0-AN15: 0 => Skip, 1 => Scan
AD1CSSH = 0x0000; //Skipping AN16-AN31
33 от 34 05.3.2007 г. 14:43
EEPROM
There is no EEPROM in dsPIC33 devices. Please consider to use an external EEPROM using I2C
communication.
Simple PWM
No change is required.
Memory Map for dsPIC33FJ128GP306
Table 11.1 Memory Location

Type Start Address End Address Size
Flash 0x000000 0x0157FF 86K[1]
+--Flash: Reset Vector 0x000000 0x000003 4
+--Flash: Interrupt Vector Table 0x000004 0x0000FF 252
+--Flash: Alternate Vector Table 0x000104 0x0001FF 252
+--Flash: User Program 0x000200 0x0157FF 85.5K
Programming Executive 0x800000 0x800FFF 4K[1]
Config Registers 0xF80000 0xF80017 24
Device ID (0xCF) 0xFF0000 0xFF0003 4
[1] Each address is 16-bit wide. Every two addresses correspond to a 24-bit instruction. Each even address
contains 2 valid bytes; each odd address contains 1 valid byte plus 1 phathom byte.
dsPicBootloader
dsPicProgrammer
To Do List
1. Construct examples codes for using DSP library
2. Construct examples codes for using Build-in library
3. GUI Interface for Benchtop boards
Retrieved from "http://www.opencircuits.com/DsPIC30F_5011_Development_Board"

This page was last modified 03:55, 5 March 2007.
Content is available under Attribution-ShareAlike 2.5.
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DsPIC30F 5011 Development Board - Open Circuits

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DsPIC30F 5011 Development Board - Open Circuits http://www.opencircuits.

6.11.2 Overflow and Saturation Traps

Table 1.1 Comparison with Compatible dsPICs

Microchip Official Website

Microchip (http://direct.forum.microchip.com/default.aspx) : Official forum by Microchip

Contains detailed descriptions on dsPIC30F register definitions and example codes

ICSP: External Programmer (ICD2)

Table 2.1 Pin Used by ICSP

Table 2.3 DIY ICD 2 Programmer

Table 2.4 Summary of IDE

Piklab 0.12.0 (http://linux.softpedia.com/get/Science-and-Engineering/Electronic-Design-Automation-EDA-/Piklab-8099.sh

RTSP: COM Port (Bootloader)

RTSP works in normal voltage (MCLR# no need to raise to VIHH).

DS3695N (http://www.national.com/ds.cgi/DS/DS3695.pdf) RS485 driver -40oC 85o

Overall -40oC 85o

1. Minimum voltage measured is 3.3V (with 2 LEDs blinking) running at 30MHz.

C-Compiler, Assembler and Linker are under GNU license.

C-libraries contained in C30 includes (Refer to 16-Bit Language Tools Libraries

Table 4.1 C Libraries in MPLAB C30

Standard C Libraries \lib stdio.h, time.h, float.h, math.h,

C Compiler, Assembler and Linker are under GNU license.

John Steele Scott (http://gcc.gnu.org/ml/gcc/2005-02/msg01144.html) has made templates that can be

Burning Program Codes to Target Board

1. Use 'dspicprg and dspicdmp' utilities developed by Homer Reid (http://homerreid.ath.cx/misc/dspicprg/) to

2. Use Piklab IDE (http://piklab.sourceforge.net/) . Details on file format not known.

Code Optimization under GNU license supports O0 and O1 only.

Table 4.2 Comparison between differnt optimization levels

Currently, operating system is based on linlike8

Table 6.1 Memory Location

Table 6.2 Data Location

_XBSS(N) [1] RAM Data in X-memory, aligned int _XBSS(32) xbuf[16];

_YBSS(N) [1] RAM Data in Y-memory, aligned int _YBSS(32) ybuf[16];

_EEDATA(N) [1] ROM Data in EEPROM, aligned int _EEDATA(2) table[]={0, 1, 2, 3,

1. N must be a power of two, with a minimum value of 2.

System clock source can be provided by:

1. Primary oscillator (OSC1, OSC2)

Each timer is 16-bit (i.e. counting from 0 to 65535).

Free Time Clock

Let required time for ticking be PERIOD.

unsigned int measure_time(void){

Registers are involved in Interrupts includes:

1. Interrupt Flag Status (IFS0-IFS2) registers

1. SET_CPU_IPL(ipl): Set IPL to ipl

extern int SAVE_IPL;

5011 provides two UART channels UxART, for x=1, 2.

Auto baud rate detection

The method is provided by ingenia bootloader

The relationship between uxbrg and TMR is

Measured Time (in seconds) = t_count/Fcy

Since UxBRG is computed by:

unsigned int uart2_autobaud(void){

Sending and Receiving Data

void _ISR _U2TXInterrupt(void){

1. Standard speed mode: 100kHz

2.2Kohm is typical for standard speed mode.

Nop(); //A small delay for hardware to respond

while(I2CCONbits.SEN); //Wait till Start sequence is completed

while(I2CSTATbits.TBF); //Wait for transmit buffer to empty

while(I2CSTATbits.ACKSTAT); //Wait for slave acknowledgement

12-bit ADC: (Max 16 Channels)

_ADIF = 0; //clear ADC interrupt flag

_TRISB2 = 1; //Set AN2 [Case Temp] as analog input

ADCSSL = 0x0F04; //0 => Skip, 1 => Scan