Embedded computing and mechatronics with the PIC32 microcontroller / Kevin M. Lynch, Nicholas Marchuk, and Matthew L. Elwin.

Includes index.

Dedication
Figure Credits
Preface
Contents
Choices made in this book
The NU32 development board
How to use this book in a course
Website, videos, and flipped classrooms
Other PIC32 references
Acknowledgments
I: Quickstart
Chapter 1: Quickstart
Abstract
1.1 What You Need
1.2 Compiling the Bootloader Utility
1.3 Compiling Your First Program
1.4 Loading Your First Program
1.5 Using make
1.6 Chapter Summary
II: Fundamentals
Chapter 2: Hardware
Abstract
2.1 The PIC32
2.2 The NU32 Development Board
2.3 Chapter Summary
2.4 Exercises
Chapter 3: Software
Abstract
3.1 The Virtual Memory Map
3.2 An Example: simplePIC.c
3.3 What Happens When You Build?
3.4 What Happens When You Reset the PIC32?
3.5 Understanding simplePIC.c
3.6 Bootloaded Programs vs. Standalone Programs
3.7 Build Summary
3.8 Useful Command Line Utilities
3.9 Chapter Summary
3.10 Exercises
Chapter 4: Using Libraries
Abstract
4.1 Talking PIC
4.2 The NU32 Library
4.3 Bootloaded Programs
4.4 An LCD Library
4.5 Microchip Libraries
4.6 Your Libraries
4.7 Chapter Summary
4.8 Exercises
Chapter 5: Time and Space
Abstract
5.1 Compiler Optimization
5.2 Time and the Disassembly File
5.3 Space and the Map File
5.4 Chapter Summary
5.5 Exercises
Chapter 6: Interrupts
Abstract
6.1 Overview
6.2 Details
6.3 Steps to Configure and Use an Interrupt
6.4 Sample Code
6.5 Chapter Summary
6.6 Exercises
III: Peripheral Reference
Chapter 7: Digital Input and Output
Abstract
7.1 Overview
7.2 Details
7.3 Sample Code
7.4 Chapter Summary
7.5 Exercises
Chapter 8: Counter/Timers
Abstract
8.1 Overview
8.2 Details
8.3 Sample Code
8.4 Chapter Summary
8.5 Exercises
Chapter 9: Output Compare
Abstract
9.1 Overview
9.2 Details
9.3 Sample Code
9.4 Chapter Summary
9.5 Exercises
Chapter 10: Analog Input
Abstract
10.1 Overview
10.2 Details
10.3 Sample Code
10.4 Chapter Summary
10.5 Exercises
Chapter 11: UART
Abstract
11.1 Overview
11.2 Details
11.3 Sample Code
11.4 Wireless Communication with an XBee Radio
11.5 Chapter Summary
11.6 Exercises
Chapter 12: SPI Communication
Abstract
12.1 Overview
12.2 Details
12.3 Sample Code
12.4 Chapter Summary
12.5 Exercises
Chapter 13: I2C Communication
Abstract
13.1 Overview
13.2 Details
13.3 Sample Code
13.4 Chapter Summary
13.5 Exercises
Chapter 14: Parallel Master Port
Abstract
14.1 Overview
14.2 Details
14.3 Sample Code
14.4 Chapter Summary
14.5 Exercises
Chapter 15: Input Capture
Abstract
15.1 Overview
15.2 Details
15.3 Sample Code
15.4 Chapter Summary
15.5 Exercises
Chapter 16: Comparator
Abstract
16.1 Overview
16.2 Details
16.3 Sample Code
16.4 Chapter Summary
16.5 Exercises
Chapter 17: Sleep, Idle, and the Watchdog Timer
Abstract
17.1 Overview
17.2 Details
17.3 Sample Code
17.4 Chapter Summary
17.5 Exercises
Chapter 18: Flash Memory
Abstract
18.1 Overview
18.2 Details
18.3 Sample Code
18.4 Chapter Summary
18.5 Exercises
Chapter 19: Controller Area Network (CAN)
Abstract
19.1 Overview
19.2 Details
19.3 Sample Code
19.4 Chapter Summary
19.5 Exercises
Chapter 20: Harmony and Its Application to USB
Abstract
20.1 Overview
20.2 The Framework
20.3 PLIB
20.4 Harmony Concepts
20.5 Drivers
20.6 System Services
20.7 Program Structure
20.8 USB
20.9 Chapter Summary
20.10 Exercises
IV: Mechatronics
Chapter 21: Sensors
Abstract
21.1 Contact: Buttons and Switches
21.2 Light
21.3 Angle of a Revolute Joint
21.4 Position of a Prismatic Joint
21.5 Acceleration and Angular Velocity: Gyros, Accelerometers, and IMUs
21.6 Magnetic Field Sensing: Hall Effect Sensors
21.7 Distance
21.8 Force
21.9 Temperature
21.10 Current
21.11 GPS
21.12 Exercises
Chapter 22: Digital Signal Processing
Abstract
22.1 Sampled Signals and Aliasing
22.2 The Discrete Fourier Transform
22.3 Finite Impulse Response (FIR) Digital Filters
22.4 Infinite Impulse Response (IIR) Digital Filters
22.5 FFT-Based Filters
22.6 DSP on the PIC32
22.7 Exercises
Chapter 23: PID Feedback Control
Abstract
23.1 The PID Controller
23.2 Variants of the PID Controller
23.3 Empirical Gain Tuning
23.4 Model-Based Control
23.5 Chapter Summary
23.6 Exercises
Chapter 24: Feedback Control of LED Brightness
Abstract
24.1 Wiring and Testing the Circuit
24.2 Powering the LED with OC1
24.3 Playing an Open-Loop PWM Waveform
24.4 Establishing Communication with MATLAB
24.5 Plotting Data in MATLAB
24.6 Writing to the LCD Screen
24.7 Reading the ADC
24.8 PI Control
24.9 Additional Features
24.10 Chapter Summary
24.11 Exercises
Chapter 25: Brushed Permanent Magnet DC Motors
Abstract
25.1 Motor Physics
25.2 Governing Equations
25.3 The Speed-Torque Curve
25.4 Friction and Motor Efficiency
25.5 Motor Windings and the Motor Constant
25.6 Other Motor Characteristics
25.7 Motor Data Sheet
25.8 Chapter Summary
25.9 Exercises
Chapter 26: Gearing and Motor Sizing
Abstract
26.1 Gearing
26.2 Choosing a Motor and Gearhead
26.3 Chapter Summary
26.4 Exercises
Chapter 27: DC Motor Control
Abstract
27.1 The H-Bridge and Pulse Width Modulation
27.2 Motion Control of a DC Motor
27.3 Chapter Summary
27.4 Exercises
Chapter 28: A Motor Control Project
Abstract
28.1 Hardware
28.2 Software Overview
28.3 Software Development Tips
28.4 Step by Step
28.5 Extensions
28.6 Chapter Summary
28.7 Exercises
Chapter 29: Other Actuators
Abstract
29.1 Solenoids
29.2 Speakers and Voice Coil Actuators
29.3 RC Servos
29.4 Stepper Motors
29.5 Brushless DC Motors
29.6 Linear Brushless Motors
29.7 Chapter Summary
29.8 Exercises
Appendix A: A Crash Course in C
A.1 Quick Start in C
A.2 Overview
A.3 Important Concepts in C
A.4 C Syntax
A.5 Exercises
Appendix B: Circuits Review
B.1 Basics
B.2 Linear Elements: Resistors, Capacitors, and Inductors
B.3 Nonlinear Elements: Diodes and Transistors
B.4 Operational Amplifiers
B.5 Modular Circuit Design: Input and Output Impedance
Appendix C: Other PIC32 Models
C.1 The PIC32MX5xx/6xx/7xx Family
C.2 PIC32MX3xx/4xx Family
C.3 PIC32MX1xx/2xx Family
C.4 PIC32MX1xx/2xx/5xx 64-100 Pin Family
C.5 PIC32MX330/350/370/430/450/470 Family
C.6 PIC32MZ Family
C.7 Conclusion
Index

Description

For the first time in a single reference, this book provides the beginner with a coherent and logical introduction to the hardware and software of the PIC32, bringing together key material from the PIC32 Reference Manual, Data Sheets, XC32 C Compiler User's Guide, Assembler and Linker Guide, MIPS32 CPU manuals, and Harmony documentation. This book also trains you to use the Microchip documentation, allowing better life-long learning of the PIC32. The philosophy is to get you started quickly, but to emphasize fundamentals and to eliminate "magic steps" that prevent a deep understanding of how the software you write connects to the hardware.

Applications focus on mechatronics: microcontroller-controlled electromechanical systems incorporating sensors and actuators. To support a learn-by-doing approach, you can follow the examples throughout the book using the sample code and your PIC32 development board. The exercises at the end of each chapter help you put your new skills to practice.

Coverage includes:

A practical introduction to the C programming language
Getting up and running quickly with the PIC32
An exploration of the hardware architecture of the PIC32 and differences among PIC32 families
Fundamentals of embedded computing with the PIC32, including the build process, time- and memory-efficient programming, and interrupts
A peripheral reference, with extensive sample code covering digital input and output, counter/timers, PWM, analog input, input capture, watchdog timer, and communication by the parallel master port, SPI, I2C, CAN, USB, and UART
An introduction to the Microchip Harmony programming framework
Essential topics in mechatronics, including interfacing sensors to the PIC32, digital signal processing, theory of operation and control of brushed DC motors, motor sizing and gearing, and other actuators such as stepper motors, RC servos, and brushless DC motors

Key Features

Extensive, freely downloadable sample code for the NU32 development board incorporating the PIC32MX795F512H microcontroller
Free online instructional videos to support many of the chapters