DsPIC30F 5011 Development Board

1 Introduction
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
5 Software Architecture
6 Programming Tips
7 Bootloader Development
8 USB-RS232 Bridge
- 8.1 FDTI Chipset
9 Programming the Device
10 Remote Access
- 10.1 Requirements
- 10.2 API Reference for VxWorks
11 Conversion to dsPIC33F Devices
12 Downloads

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
dsPic	Price US$	MIPs	Flash (kB)	RAM (kB)	EEPROM (kB)	I/O	ADC 12-bit	IC	OC	Motor Ctrl	Timers	QEI	UART	SPI	I2C	CAN	Codec
30F5011	5.91	30	66	4	1	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	1
30F6011A	7.73	30	132	6	2	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	0
30F6012A	7.85	30	144	8	4	52	16	8	8	0	5x16bit 2x32bit	0	2	2	1	2	1
33FJ128GP206	4.62	40	128	8	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	1	0	1
33FJ128GP306	4.81	40	128	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	0	1
33FJ128GP706	5.49	40	128	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	2	1
33FJ128MC506	4.97	40	128	8	0	53	16	8	8	8	9x16bit 4x32bit	1	2	2	2	1	0
33FJ128MC706	5.38	40	128	16	0	53	16	8	8	8	9x16bit 4x32bit	1	2	2	2	1	0
33FJ256GP506	6.11	40	256	16	0	53	18	8	8	0	9x16bit 4x32bit	0	2	2	2	1	1

Web Page

Microchip Official Website

Forum

Microchip: Official forum by Microchip
- MPLAB ICD 2: Subforum on ICD 2 programmer
- MPLAB IDE: Subforum on IDE
- MPLAB C30 Compiler, ASM30, Link30 forum: Subforum on C compiler. Refer to MPLAB C30 C Compiler User's Guide Chapter 3
- dsPIC30F Topics: Subformum on dsPIC30F
GNUPIC: Discussion on PIC in Linux Systems
- Debian
HI-TECH Software Forum: Discussion on dsPICC, a C compiler developed by HI-TECH
PICList: Discussion on older PIC systems (not dsPIC)
PicKit: Discussion on PICkit/PICkit 2 programmers
FreeRTOS Real Time Kernel: Open Discussion and Support on FreeRTOS

References

dsPIC30F
- Family Overview
- Family Reference Manual: Contains detailed descriptions on dsPIC30F register definitions and example codes
- 5011 Data Sheet
- Flash Programming Specification
- Programmer Reference Manual
dsPIC33F
ICD2 Programmer
- ICD2 User's Guide
MPLAB
- MPLAB IDE User's Guide
C30 Compiler
- MPLAB C30 C Compiler User's Guide: Contains commands for using pic30-elf-gcc
- 16-bit Language Tools Libraries: Contains summaries and examples of using DSP libraries, standard C libraries and device libraries
- MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide
- dsPIC30F Language Tools Quick Reference Card

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 V_IHH (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

Table 2.1 Pin Used by ICSP
Pin Label	Function	Pin Number
MCLR#	Programming Enable	7
V_DD	Power Supply	10, 26, 38, 57
V_SS	Ground	9, 25, 41, 56
PGC	Serial Clock	17
PGD	Serial Data	18

Table 2.2 Available Programmers in the Market
Product Name	Interface with PC	Interface with Device	Price (US)	Postage (US)	Total (US)
MPLAB^® ICD 2	USB or RS232	6-PIN RJ-12 connector	$159.99	-	-
Full Speed USB Microchip ICD2 Debugger and Programmer	USB	6-PIN ICSP connector 6-PIN RJ-12 connector	$72.00	$12.00	$84.00
Mini Microchip Compatible ICD2 Debugger and Programmer	RS232	6-PIN ICSP connector 6-PIN RJ-12 connector	$45.00	$10.00	$55.00
ICDX30	RS232	6-pin RJ-11	$51.00	$47.46	$98.46
Clone Microchip ICD2	USB	6-pin flat cables	$30.00	$12.00	$42.00

Table 2.3 DIY ICD 2 Programmer Circuit
Source	Schematic	PIC16F877A Bootloader
Patrick Touzet	Yes	HEX
Nebadje	Yes	Zip

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.

Table 2.4 Summary of IDE
Product Name	Features	OS	Price (US$)
MPLAB^® IDE	Assembler Only	Windows	Free
MPLAB^® C30	Assembler and C-Compiler	Windows	$895.00 (Free student version¹)
Piklab 0.12.0	Assembler and C-Compiler	Linux	Free²

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.
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 V_IHH).
No literature has mentioned the incorporation of Programming Executive (PE). Presumably, since Enhanced ICSP needs to set MCLR# to V_IHH, RTSP cannot use PE.
Refer to bootloader section.

IC Requirements

Table 3.1 IC Requirements
Part No.	Description	Min Temp	Max Temp	Min Volt	Max Volt	Typ Cur	Max Cur
dsPIC30F5011-30I/PT	uP	-40^oC	85^oC	2.5V ^[1]	5.5V	145mA	217mA
MAX3232ESE	RS232 driver	-40^oC	85^oC	3.0V	5.5V	0.3mA	1.0mA
DS3695N	RS485 driver	-40^oC	85^oC	4.75V	5.25V	42mA	60mA
DAC6574DGS	10-bit Quad-DAC I²C	-40^oC	105^oC	2.7V	5.5V	0.6mA	0.9mA
74HC14D	Quad-Schmitt Trigger	-40^oC	125^oC	2.0V	6.0V		0.02mA
Overall		-40^oC	85^oC	4.75V	5.25V		<300mA ^[2]
dsPIC33FJ128GP306	uP	-40^oC	85^oC	3.0V ^[1]	3.6V	74mA	250mA
ADM3485EARZ	RS485 driver	-40^oC	85^oC	3.0V	3.6V	1.1mA	2.2mA

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

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 from Microchip).

Table 4.1 C Libraries in MPLAB C30
Library	Directory (\\Microchip\MPLAB C30)	Major functions
DSP Library (e.g. libdsp-coff.a)	\lib \src\dsp \support\h	Vector, Matrix, Filter, etc.
16-Bit Peripheral Libraries (e.g. libp30F5011-coff.a)	\lib \src\peripheral \support\h	ADC12, IOPort, UART, I²C, etc.
Standard C Libraries (e.g. libc-coff.a, libm-coff.a, libpic-coff.a)	\lib \src\libm \include	stdio.h, time.h, float.h, math.h,
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.
- Current MPLAB ASM30 Assembler: v2.04
- Current MPLAB C30 Compiler: v2.04

John Steele Scott 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).
- 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.
- Instructions for filling the upstream direction is available here.
- Alteratively, Stephan Walter 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

Use 'dspicprg and dspicdmp' utilities developed by Homer Reid to burn hex code (*.hex) to devices. See Reference here. Through serial port only?
Use Piklab IDE. Details on file format not known.
Use MPLAB IDE 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
Optimization	Description	Project 1 Code Size (byte)	Project 1 Data Usage (byte)	Project 2 Code Size (byte)	Project 2 Data Usage (byte)
O0	No optimization Fastest Compilation	6222 (9%)	178 (4%)	26,037 (38%)	710 (17%)
O1	Optimize Tries to reduce code size and execution time.	4473 (6%)	178 (4%)	22,290 (32%)	710 (17%)
O2	Optimize even more Performs nearly all supported optimizations that do not involve a space-speed trade-off. Increases both compilation time and the performance of the generated code.	4422 (6%)	178 (4%)	21,993 (32%)	710 (17%)
O3	Optimize yet more. O3 turns on all optimizations specified by O2 and also turns on the inline-functions option.	4485 (6%)	178 (4%)	22,176 (32%)	710 (17%)
Os	Optimize for size. Os enables all O2 optimizations that do not typically increase code size. It also performs further optimizations designed to reduce code size.	4356 (6%)	178 (4%)	21,885 (32%)	710 (17%)

Software Architecture

  +----------+-----------+---------+---------+
  |   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. The possibility of using other OS (e.g. FreeRTOS) 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 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

Table 6.2 Data Location
Type	Description	Example
_XBSS(N) ^[1]	RAM Data in X-memory, aligned at N, no initilization	int _XBSS(32) xbuf[16];
_XDATA(N) ^[1]	RAM Data in X-memory, aligned at N, with initilization	int _XDATA(32) xbuf[] = {1, 2, 3, 4, 5};
_YBSS(N) ^[1]	RAM Data in Y-memory, aligned at N, no initilization	int _YBSS(32) ybuf[16];
_YDATA(N) ^[1]	RAM Data in Y-memory, aligned at N, with initilization	int _YDATA(32) ybuf[16] = {1, 2, 3, 4, 5};
__attribute__((space(const)))	Flash ROM data, constant, accessed by normal C statements, but 32K max.	int i __attribute__((space(const))) = 10;
__attribute__((space(prog)))	Flash ROM data, read/write by program space visibility window (psv)	int i __attribute__((space(prog)));
__attribute__((space(auto_psv)))	Flash ROM data, read by normal C statements, write by accessing psv	int i __attribute__((space(auto_psv)));
__attribute__((space(psv)))	Flash ROM data, read/write by (psv)	int i __attribute__((space(psv)));
_EEDATA(N) ^[1]	ROM Data in EEPROM, aligned at N, read/write with psv	int _EEDATA(2) table[]={0, 1, 2, 3, 5, 8};
_PERSISTENT	RAM Data, data remain after reset	int _PERSISTENT var1, var2;
_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);

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

Configuration Bits

System clock source can be provided by:

Primary oscillator (OSC1, OSC2)
Secondary oscillator (SOSCO and SOSCI) with 32kHz crystal
Internal Fast RC (FRC) oscillator at 7.37MHz (7372800Hz)
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 F_OSC
The system clock is divided by 4 to yield the internal instruction cycle clock, F_CY=F_OSC/4
FRC with PLLx16 is used to achieve F_CY=29.49MHz (29491200Hz or 30MIPS)

 //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*F_CY 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){
     _T1IF = 0;		// Clear interrupt flag
     //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
     _T3IF = 0;			// Clear interrupt flag
     _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:

Interrupt Flag Status (IFS0-IFS2) registers
Interrupt Enable Control (IEC0-IEC2) registers
Interrupt Priority Control (IPC0-IPC10) registers
Interrupt Priority Level (IPL) register
Global Interrupt Control (INTCON1, INTCON2) registers
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>:

SET_CPU_IPL(ipl): Set IPL to ipl
SET_AND_SAVE_CPU_IPL(save_to, ipl): Store the current IPL to save_to and then set to ipl
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.
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

  Measured Time (in seconds) = t_count/F_cy
  uxbrg = 1/(Measured Time/8)
        = 8*F_cy/t_count

Since UxBRG is computed by:

  UxBRG = (F_cy/(16*Baudrate)) -1
        = (F_cy/(16*8*F_cy/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
     _T3IF = 0;			// Clear interrupt flag
     _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
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//2nd rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//3rd rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//4th rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     while(!_IC2IF);			//5th rising edge detected
     _IC2IF = 0;			//Clear interrupt flag
     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

  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

Standard speed mode: 100kHz
Fast speed mode: 400kHz
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) = (V_dd-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:

    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 V_REF-.

  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:

     ADCS<5:0> = 2(T_AD/T_CY)-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 V_REF+ and V_REF-. 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.

  void adc_add_ch(unsigned char ch){
     unsigned int mask;
     mask = 0x0001 << ch;
     TRISB = TRISB | mask;
     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	
  }

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
           readEEByte( __builtin_tblpage(eeData), 
                       __builtin_tbloffset(eeData) + byte_pointer - 1,
                       &word_data);
           //===========================================================
           word_data = ((unsigned int)buf[0] << 8) + (0xFF & word_data);
           byte_wr++;				//Update buffer pointer
           byte_pointer++;			//Update global pointer
         } else if(i==max_write-1 && ((isOddAddr && sOddByte==0)||(isOddAddr==0 && isOddByte))){
           //Last byte not used
           //=============================================save last byte
           readEEByte(	__builtin_tblpage(eeData), 
                       __builtin_tbloffset(eeData) + byte_pointer + 1,
                       &word_data);
           //============================================================
           word_data = (word_data << 8) + buf[byte_wr];
           byte_wr++;				//Update buffer pointer
           byte_pointer++;			//Update global 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.

  .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 f_PWM is given by:

        f_PWM = f_CY/(Prescale*10^rlog(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
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;
   OC5CON = 0; OC6CON = 0;
   OC7CON = 0; OC8CON = 0;
   //============================================================
   TMR2 = 0;		// Clear register
   PR2 = 0xFFFF;	// Set to Maximum
   //============================================================
   _T2IP = 7;		// Set priority level to 7 (7 Highest)
   _T2IF = 0;		// Clear interrupt flag
   _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){
   _T2IF = 0;			// Clear interrupt flag
 }

ioctl()

User should select the channel and set the pwm period using the functions below before issuing the duty cycle:

 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:
           OC2RS = calcDCycle(buf[0]);	OC2R = OC2RS; 
           OC2CONbits.OCM = 6; //Simple PWM, Fault pin disabled
           break;
       ...
       case 7:
           OC8RS = calcDCycle(buf[0]); OC8R = OC8RS; 
           OC8CONbits.OCM = 6; //Simple PWM, Fault pin disabled
           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 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^{[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:

Vector
Window
Matrix
Filtering
Transform
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)

Overflow and Saturation Traps

To be added.

Build-in Library

Some assembler operators can only be accessed by inline assembly code, for example,

Manuipulation of accumulators A and B (add, sub, mul, divide, shift, clear, square)
Bit toggling
Access to psv (program space visiblity) page and offset
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.

Table 7.1 Free bootloaders for dsPIC
Developer	Source	Platform	User Guide	Remarks
ingenia	Assembly	Windows	pdf	Works for all dsPIC supporting RTSP Auto baudrate detection Use about 1.15% of the flash memory space (0xAFFF-0xAE00)/(0xAFFF-0x0100) Development of Linux platform is underway Modification of code for dsPIC30F5011 is successful
Tiny	Assembly	Windows	Web	By default, only supports 601X, 601X, 401X, 2010 Smaller code size than ingenia, but not as easy to modify
Elektronika	Hex	Windows	txt	Only works for dsPIC30F6014 serial port UART2 at baudrate 57600

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:

Use U2ART channel
Use FRC, PLL16
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 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

         .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 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:

Adjustable baud rate.
Only program dsPIC30F5011 and dsPIC33FJ128GP306 devices (Developers may add your devices in source code).
Protection against overwriting bootloader codes on devices.
Detection if application program does not have its reset() at user's code start address.

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

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

Communication Protocol

Communication Protocol is reviewed in ingenia bootloader user's guide 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
- 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)

Ensure the initial address of writing match an initial row position,
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:

Use an external USB/RS232 adaptor, the driver will emulate a virtual COM port, such as Prolific and FDTI. 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 (javax.comm) and/or RXTX to drive the COM port.
Modified the bootloader program on PC to support USB communication. e.g. using jUSB and JSR-80 (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.
- 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#]
Virtual COM Port Drivers can be downloaded here.

Programming the Device

Requirements

Hardware

PC with COM port (Windows XP Installed for MPLAB)
ICD2 Programmer
Target Board
5V Power Supply

Software

MPLAB IDE v7.50 or higher
dsPicProgrammer (dsPicProgrammer.jar)
RXTX driver

Files

dsPicBootloader (ingenia.hex). Original assembly code by ingenia can be downloaded from here.
Application hex file (e.g. app.hex)

Loading Bootloader (Once only)

Table 9.1 Loading Bootloader
Step	Remarks
Install MPLAB IDE	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\Microchip\MPLAB 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. Only pin 1 - 5 should be used. Place Jumper on target board (if any). The Jumper connects target V_cc 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 ICD 2 If this is the first time the ICD 2 is connected to PC, MPLAB IDE will automatically download the required OS to ICD 2, wait until it has finished If you have not connected and powered up the target, you might see Warnings on invalid device IDs, and/or running self tests. See results of self test if necessary: Programmer>Settings, Status Tab. Refer to ICD2 User's Guide 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

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:

File Transfer Protocol (FTP): Required files are copied from sever to client for manipulation
Remote Shell (RSH): Required files are copied from sever to client for manipulation
Network File System (NFS): Required files are manipulated on sever

An API to access files using a selected protocol, such as:

lam_rfposix: A POSIX-like remote file service for Local Area Multicomputer
API employed by VxWorks: VxWorks is a Unix-like real-time operating system, commonly used for embedded systems.

API Reference for VxWorks

Reference:
- VxWorks Official Website
- OS Libraries API Reference
Related Libraies
- netDrv (netDrv.h): an API using FTP or RSH
- nfsDrv (nfsDrv.h): an API using NFS

Conversion to dsPIC33F Devices

This section discusses the conversion required from dsPIC30F5011 to dsPIC33FJ128GP306.
Refer to official document dsPIC30F to dsPIC33F Conversion Guidelines (DS70172A).
Note that this section does not mainly 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 can be used to convert 5V supply to 3.3V.
A 1uF capacitor has to be placed at pin 56 (previously V_SS, now V_DDCORE).

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_ON  & POSCMD_NONE);  
                           // Clock Switching and Fail Safe Clock Monitor is disabled
                           // OSC2 Pin Function: OSC2(RC15) as Digital IO
                           // 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):

  _PLLDIV = 38;            // M=40: PLL Feedback Divisor bits
  CLKDIV = 0;              // N1=2: PLL VCO Output Divider Select bits
                           // N2=2: PLL Phase Detector Input Divider bits
  OSCTUN = 22;              // 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

The ADC in dsPic33 is significantly different from that in dsPic30. Specifically, ADC in dsPic33 uses DMA to buffer the adc data. Replace the open, interrupt routine, add and remove codes as follows:

  unsigned int adc_bufA[ADC_MAX_CH] __attribute__((space(dma),aligned(256)));
  unsigned int adc_bufB[ADC_MAX_CH] __attribute__((space(dma),aligned(256)));
  unsigned int* ADC16Ptr;             //Pointer to ADC register buffer, 
  unsigned char adc_ch_select = 0;    //Pointer to channel to be read from
  unsigned char adc_data_ready = 0;   //Indicate if RAM data is ready for output
  unsigned int which_dma = 0;         //indicate which adc_buf to be used

  void adc_open(void)
  {
      // Configure interrupt
      _AD1IF = 0;              //clear ADC interrupt flag
      _AD1IE = 0;              //disable adc interrupt
      AD1CHSbits.CH0NA = 0;
      // Configure analog i/o  
      _TRISB0 = 1;
      _TRISB1 = 1;    
      AD1PCFG = 0xFFFC;        //Enable AN0 (Vref+) and AN1 (Vref-)
      AD1PCFGH = 0xFFFF;       //AN16-AN31: Disabled
      // Configure scan input channels    
      AD1CSSL = 0x0003;    //0 => Skip, 1 => Scan
      AD1CSSH = 0x0000;    //Skipping AN16-AN31
      // ADCCON4:
      AD1CON4bits.DMABL = 0;    // Each buffer contains 1 word
      // ADCCON3:
      AD1CON3bits.SAMC = 1; //1TAD for sampling time
      AD1CON3bits.ADRC = 1;            //Use internal ADC clock
      AD1CON3bits.ADCS = ADC_ADCS;     //each conversion requires 14TAD
      // ADCCON2:
      AD1CON2bits.VCFG = 3;    //External Vref+, Vref-
      AD1CON2bits.CSCNA = 1;   //Scan input
      AD1CON2bits.SMPI = 1;    //2 channels are scanned
      // ADCCON1:
      AD1CON1bits.FORM = 0;        //[0:integer]; [2 fractional]; [3 siged fractional]
      AD1CON1bits.SSRC = 7;        //auto covert, using internal clock source
      AD1CON1bits.ASAM = 1;        //auto setting of SAMP bit
      AD1CON1bits.AD12B = 1;       //12-bit, 1-channel ADC operation
      AD1CON1bits.ADDMABM = 0;     // DMA buffers are built in scatter/gather mode
      AD1CON1bits.ADON = 1;        // Turn on the A/D converter
      // DMA0 Configuration:
      DMA0CONbits.AMODE = 2;      // Configure DMA for Peripheral indirect mode
      DMA0CONbits.MODE  = 2;      // Configure DMA for Continuous Ping-Pong mode
      DMA0PAD=(int)&ADC1BUF0;     
      DMA0CNT = 1;                // generate dma interrupt every 2 samples 
                                  // same as SMPI because only 1 dma buffer per channel         
      DMA0REQ = 13;               // Select ADC1 as DMA Request source
      DMA0STA = __builtin_dmaoffset(adc_bufA);     
      DMA0STB = __builtin_dmaoffset(adc_bufB);
      _DMA0IF = 0;                // Clear the DMA interrupt flag bit
      _DMA0IE = 1;                // Set the DMA interrupt enable bit
      DMA0CONbits.CHEN=1;         // Enable DMA
  }

  void _ISR _DMA0Interrupt(void)
  {
      ADC16Ptr = (which_dma == 0)? adc_bufA : adc_bufB;   //Update pointer
      adc_data_ready = 1;
      which_dma ^= 1;                                     //Next buffer to be used
      _DMA0IF = 0;                                        //Clear the DMA0 Interrupt Flag
  }

  static void adcAdd(unsigned char ch){
      unsigned int mask;
      mask = 0x0001 << ch;
      TRISB = TRISB | mask;
      AD1CSSL = AD1CSSL | mask;      
      AD1PCFG = ~AD1CSSL;
      AD1CON2bits.SMPI++;  //take one more sample per interrupt
      DMA0CNT++; 
  }
  
  static void adcRm(unsigned char ch){
      unsigned int mask;
      mask = 0x0001 << ch;
      AD1PCFG = AD1PCFG | mask;
      AD1CSSL = ~AD1PCFG;
      AD1CON2bits.SMPI--;  //take one less sample per interrupt
     DMA0CNT--; 
  }

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 and dsPicProgrammer

RTSP for dsPIC33F is different from dsPIC30F.
- Row size changes 32 instructions (96bytes) to 64 instructions (192 bytes)
- Erase operation changes from 1 row to 8 rows
- No EEPROM
With regards to the above changes, dsPicBootloader and dsPicProgrammer has been modified. In particular, dsPicProgrammer can be used to program both dsPic30F and dsPic33F devices. You can easily add your devices to the source code.

Downloads

Table 12.1 dsPicBootloader and dsPicProgrammer for dsPIC30F and dsPIC33F
Program	Site 1	Site 2	Remarks
dsPicBootloader	click	click	Under "dsPicBootloader/", download bl_5011.s or bl_j128gp306.s
dsPicProgrammer	click	click	Under "dsPicProgrammer/", dowload dsPicProgrammer.jar Alternatively, if you want to compile yourself or modify the source code, download all source files under "dsPicProgrammer/" plus RdFileIntelHex.java under "IntelHexPaser/tags/0.02.00/". You should also install RXTX on your local machine as recommended in the readme file.

DsPIC30F 5011 Development Board

Contents

Introduction

Features of dsPIC30F5011

Web Page

Forum

References

Programming Methods

ICSP: External Programmer (ICD2)

Hardware Interface

Software Interface

RTSP: COM Port (Bootloader)

IC Requirements

Development Environment

Windows

Linux

Code Optimization

Software Architecture

Programming Tips

Memory Map for 5011

Data Location

Configuration Bits

Timer

Free Time Clock

Time Measurement

Interrupt

UART

Auto baud rate detection

Initialize UART

Sending and Receiving Data

I2C

ADC

Configuration

Storing ADC Data

Adding and Removing Channels

EEPROM

Seek

Read

Write

Simple PWM (Output Compare Module)

open()

ioctl()

write()

Propagration Delay

DSP Library

Data Types

Overflow and Saturation Traps

Build-in Library

Bootloader Development

Concepts

dsPicBootloader

dsPicProgrammer (Java-based Multi-Platformed)

Special Consideration

Communication Protocol

USB-RS232 Bridge

FDTI Chipset

Programming the Device

Requirements

Loading Bootloader (Once only)

Loading Application

Remote Access

Requirements

API Reference for VxWorks

Conversion to dsPIC33F Devices

Hardware

Software

Configuration Bits

UART

I2C

ADC

EEPROM

Simple PWM

Memory Map for dsPIC33FJ128GP306

dsPicBootloader and dsPicProgrammer

Downloads

Navigation menu

Search

I²C