Week 1 Arduino Environment

Lesson 1

Lecture 1.1 Arduino Platform

A development board

• 8-bit microcontroller
• programming hardware
• USB programming interface
• I/O pins

Arduino Environment

A software environment

• cross-compiler
• debugger
• simulator
• programmer

Special-purpose "Shields"

• daughter boards
• unique functionalities
• easy to attach
• good libraries provided

The Arduino Decelopment Board

• Has a microcontroller and USB interface to a PC
• Large open source community

Power/reset: Reset button; USB connector; Power connector

Lecture 1.2 Arduino Board

1. Input/Output Pins: Digital I/O; Power/reset pins; Analog inputs
2. Microcontrollers
   • ATmega328 is the processor programmed by the user
   • ATmega16U2 handles USB communication
3. Two types of code executing on a simple mocrocontroller:
   • Application code
     • Executes the system's main functionality
     • We write this code
   • Firmware
     • Low-level code: supports the main function
     • USB interface, power modes, reset, etc.
   • The distinction is a matter of perspective
   • Arduino firmware is pre-programmed

Lecture 1.3 Direct Programming

Bootloader

• Firmware on a microcontroller
• Allows the Flash and EEPROM to be programmed
• Manages USB communication, since application programming is via USB

In-Circuit Serial Programming (ICSP)

• A special programming method to program the firmware
• Needed because the bootloader can't reprogram itself

Lesson 2

Lecture 2.1 Arduino Schematics

Arduino UNO Schematic

• Arduino designs are open source
• Design is available
• You can build your own

Lecture 2.2 Arduino IDE

IoTM2W1L2.2.png

Arduino Integrated Development Environment(IDE)

Lecture 2.3 Compiling Code

Compiling Code

• Verify and Upload both compile
• Message window will show either completion message or error messages
• Error messages will show line numbers

Serial Monitor

• Displays serial data sent from the Arduino
• Allows serial data to be sent to the Arduino from the keyboard
• Library functions in the serial library

Lesson 3

Lecture 3.1 Arduino Shields and Libraries

Arduino Shields

• Add-on boards that interface with another device/IC
• Can be stacked directly on top of the Arduino
• Libraries exist to make interfacing simple
• Open source hardware, but most can be purchased
• Large variety of shields available
• Big advantage of the Arduino platform

Some Arduino Shields

Ethernet Shield; Color LCD shield; Synhesizer Shield(generate music and connect to a speaker)

Ethernet Shield Library Example

• Used by a client to establish a connection
• Call the function, ignore the detail

Lecture 3.2 Arduino Basic Setup

Week 2 C Programming

C_Lesson1
C_Lesson2
C_Lesson3
C_Lesson4
C_Lesson5

Lesson 1

Lecture 1.1 Setting Up Your Environment

Getting Started

• Prints "hello, world" to the screen
• Type this in with a text editor and save it as hello.c

Running a Program

• You will need a text editor and a compiler
  • Debugger will be needed later
• I use GNU tools
  • emacs text editor
  • gcc C compiler
  • gdb C debugger
• Can run on Windows but MacOS and Linux are easier
  
• Eclipse Integrated Development Environment(IDE)(Windows)
  • Puts all tools together in a nice graphic user interface
  • Need Java Runtime Environment(JRE) to run it
  • Can also use Microsoft Visual Studio (not free)

Lecture 1.2 Hello World

Breaking Down Hello.c

    #include <stdio.h>

• Tells the compiler to use the library functions described in stdio.h
• printf (the print function) is inside stdio
• Beginning of the main function
• All code execution starts at main

    {}

• Curly brackets group lines of code
• All functions start and end with curly brackets

    printf(...);

• Prints to the screen
• The argument is in parenthesis
• The argument is what is printed
• Note the semicolon at the end

    main() {
        printf("hello, ");
        printf("world");
        printf("\n");
    }

"hello, world\n"

• This is the argument to printf which appears on the screen
• It's a string because it's in quotes("")
• \n is a special character that indicates newline

Lecture 1.3 Variables

Variables

• Names that represent values in the program
• Similar to algebraic variables
• All variables have a type which must be declared

    int x;
    float y;

• Type determines how arithmetic is performed, how much memory space is required

Types and Type Qualifiers

• Several built-in types,different sizes

• Type qualifiers exist: short, long
• Char is 8 bits on all platforms

Variable Names

• A sequence of visible characters
• Must start with a non-numerical character
• No C language keywords

Lesson 2

Lecture 2.1 Basic C Operators

Constants

• Can use #define compiler directive

    #define ANSWER 42

• Any instance of the string is substituted at compile time
• Character constants
  • Written as a single character in single quotes
  • #define TERMINATOR 'x'
  • Integer equal to the ASCII value of the character
  • Some characters are not easy to represent(i.e. bell)

Arithmetic/Relational Operators

• +,-,*,/
• % is the modulo operator, division remainder
• Ex. 9%2=1;9%3=0
• ++(increment), --(decrement)
• ==,<,>,<=,>=,!=
• Ex. if(x<5)...

Logical Operators

• && (AND),|| (or), ! (Not)
• Treat argument as 1-bit binary values
  • 0 is FALSE, not-0 is TRUE
• if((A==1)&&!B)

Lecture 2.2 Conditionals

Conditional Statements

if

if (expression)
    statement1
else
    statement2

if (expression)
    statement1
else if (expr2)
    statement2
else 
    stat3

• else is optional
• expression is evaluated
  • Executed statement1 if TRUE, statement2 if FALSE
• expr2 evaluated if expr1 is FALSE

Switch

switch (expr) {
    case const_expr1: stat1
    case const_expr2: stat2
    default: stat3
}

• expression is evaluated, compared to const_expr
• Statements are executed corresponding to the first matching expression
• default is optional
• Without a break statement the case will not end

Lecture 2.3 Loops

While and For Loops

for (expr1; expr2; expr3)
    statement

expr1;
while(expr2) {
    statement
    expr3;
}

do {
    statement
    expr3;
} while (expr2);

• Initialization and increment are built into the for loop
• Condition checked at the top of a for/while loop
• Condition checked at the bottom of a do-while loop

Break and Continue

• Break jumps to the end of a for, while, do,case
• Continue jumps to the next iteration of a loop

Lesson 3

Lecture 3.1 Functions

Functions

• Functions can replace groups of instructions
• Define a function; call a function
• Naming is important

Function Arguments

Data can be passed to functions as arguments

Function Return Value

• Functions can return a value to the caller
• The type of the return value must be declared

Lecture 3.2 Global Variables

Global Variables

• A variable is global if it's defined outside of any function
• A global variable must be declared as an extern in any function using it
  • Extern not needed if global declaration is before the function
• Variables can be global across files

Globals Are Dangerous

• Global variables can propagate bugs
• Bug in foo can cause bar to crash
• Debugging can become harder
• Reduce modularity of code

Week 3

BuildProcess
Setup
Loop
PinMode
DigitalWrite
DigitalRead
AnalogRead

Lesson 1 Arduino Programs

Lecture 1.1 Arduino Toolchain

Verify and Upload

IoTM2W3L1.1.png

Combine and Transform

• All program files are combined into one
• An #include is added to reference basic Arduino libraries
• Function prototypes are added
• A main() function is created

Lecture 1.2 Cross-Compilation

Compile and Link

• avr-gcc is invoked to cross-compile the code
  • Resulting code executes on AVR, not Intel
• Generates an object file(.o)
• Object file is linked to Arduino library functions

Hex File Creation and Programming

• avr-objcopy is invoked to change the format of the executable file
• A .hex file is generated from the .elf file

Lecture 1.3 Arduino Sketches

Arduino Programs

• A program is called a sketch
• C++ program using Arduino library functions
• C++ is a superset of C
  • All C programs are legal C++
• C++ also includes classes

Object-Oriented Programming

• Organize your code through encapsulation
• Group together data and functions that are related
• User-defined type is specific to an app
  • Ex. ints have data(the number) and functions (+,-,*)

Lesson 2

Lecture 2.1 Classes

Classes and Members

class X {
public:
    int m;
    int mf(int v) { int old = m; m=v ; return old; }
};

X var;
var.m = 7;
int é = var.mf(9);

• Declaration of a variable creates an object
• .Operator used to access members
  • Data and functions
• Functions can be defined inside the class

Classes in Libraries

Ethernet.begin(mac);
Serial.begin(speed);
client.print("Hello");
Serial.print("Hello");

• We don't need to know a lot about classes
• We will not define classes
• We will use classes defined in libraries

Lecture 2.2 Sketch Structure

Setup() Function

• A sketch does not have a main() function
• Every sketch has a setup() function
  • Executed once when Arduino is powered up
  • Used for initialization operations
  • Returns no value, takes no arguments

Loop() Function

• Every sketch has a loop() function
  • Executed iteratively as long as the Arduino is powered up
  • loop() starts executing after setup() has finished
  • loop() is the main program control flow
  • Returns no value, takes no arguments

Lecture 2.3 Pins

Pins

• Pins are wires connected to the microcontroller
• Pins are the interface of the microcontroller
• Pins voltages are controlled by a sketch
• Pin voltages can be read by a sketch

Output Pins

Output pins are controlled by the Arduino

• Voltage is determined by your sketch
• Other components can be controlled through outputs

Input Pins

• Input pins are controlled by other components
• Arduino reads the voltage on the pins
• Allows it to respond to events and data

Digital vs. Analog

• Some pins are digital-only
  • Read digital input, write digital output
  • 0 volts or 5 volts
• Some pins can be analog inputs
  • Can read analog voltages on the pin
  • Useful for analog sensors
• Analog-only pins are clearly labeled
• No pins can generate an analog output

Lesson 3

Lecture 3.1 Input and Output

Input/Output(I/O)

• These functions allow access to the pins

  void pinMode(pin, mode)

• Sets a pin to act as either an input or an output

• pin is the number of the pin

  • 0-13 for the digital pins
  • A0-A5 for the analog pins

• mode is the I/O mode the pin is set to

  • INPUT, OUTPUT, or INPUT_PULLUP
  • INPUT_PULLUP acts as input with reversed polarity

Digital Input

int digitalRead(pin)

• Returns the state of an input pin
• Returns either LOW(0 volts) or HIGH(5 volts)

Digital Output

void digitalWrite(pin, value)

• Assigns the state of an output pin
• Assigns either LOW(0 volts) or HIGH(5 volts)

Analog Input

int analogRead(pin)

• Returns the state of an analog input pin
• Returns an integer from 0 to 1023
• 0 for 0 volts, 1023 for 5 volts

Lecture 3.2 Blink Examples

Delay

void delay(msec)

• Pauses the program for msec milliseconds
• Useful for human interaction

Blink Example

• Blink is the generic simple example for embedded systems
  • Like "hello, world"

Week 4

Serial

Lesson 1

Lecture 1.1 Debugging

Debug and Trace

Controllability and observability are required

Controllability

• Ability to control sources of data used by the system
• Input pins. input interfaces(serial. ethernet, etc)
• Registers and internal memory

Observability

• Ability to observe intermediate and final results
• Output pins output interfaces
• Registers and internal memory

I/O Access Is Insufficient

Observation of I/O is not enough to debug

Properties of a Debugging Environment

1. Run control of the target
   • Start and stop the program execution
   • Observe data at stop points
2. Real-time monitoring of target execution
   • Non-intrusive in terms of performance
3. Timing and functional accuracy
   • Debugged system should act like the real system

Lecture 1.2 Debug Environment

Remote Debugger

• Fronted running on the host
• Debug Monitor hidden on target
  • Typically triggered when debug events occur
  • Hitting a breakpoint, receiving request from host, etc.
• Debug monitor maintains communication link

Remote Debug Tradeoffs

Advantages:

1. Good run control using breakpoints to stop execution
2. Debug monitor can alter memory and registers
3. Perfect functional accuracy

Disadvantages:

1. Debug interrupts alter timing so real-time monitoring is not possible
2. Need a spare communication channel
3. Need program in RAM(not flash) to add breakpoints

Embedded Debug Interfaces

• Many modern processors include embedded debug logic
  • Typically an optional IP block
  • Embedded trace macrocell (ARM)
  • Background debug mode (Freescale)
• Debug logic permanently built into the processor
• A few dedicated debug pins are added

Debug and Trace Features

• Breakpoints, stopping points in the code
• Watchpoints, memory locations which trigger stop
• On-the-fly memory access
• Examine/change internal processor values
• Single- step through the code
• Export exceptions to the debugger(hit a watchpoint)
• Export software-generated data(printf)
• Timestamp information for each event
• Instruction trace(special purpose HW needed)

Lecture 1.3 Debug via Serial

Serial Protocols

• Data is transmitted serially
  • Only 1 bit needed (plus common ground)
• Parallel data transmitted serially
• Original bytes/words regrouped by the receiver
• Many protocols are serial to reduce pin usage
  • Pins are precious

UART

• Universal Asynchronous Receiver/Transmitter
• Used for serial communication between devices
• UART is asynchronous: no shared clock
• Asynchronous allows longer distance communication
  • Clock skew is not a problem

UART

• Used by modems to communicate with network
• Computers used to have an RS232 port. standard
• Not well used any more, outside of embedded systems
  • Replaced by USB, ethernet, I2C, SPI
• Simple, low HW(Hardware) overhead
• Built into most microcontrollers

Lesson 2

Lecture 2.1 UART Protocol

Simple UART Structure

IoTM2W4L2.1.png

• Data is serialized by Tx, deserialized by Rx
• Status indicates the state of the transmit/receive buffers
  • Used for flow control

UART Timing Diagram

IoTM2W4L2.1_2.png

• First bit is the Start Bit: initiates the transfer
• Next bits are the data
• Last are the Stop Bits

Bit Duration

• Each bit is transmitted for a fixed duration
• The duration must be known to Tx and Rx
• Baud rate(f) determines the duration(T)
• Baud rate is the number of transitions per second
  • Typically measured in "bits per second(bps)"
• T = 1/f
  • F = 9600 baud, T = ~104 microsec
• Transmission rate is less than baud rate

Lecture 2.2 UART Synchronization

UART Synchronization

IoTM2W4L2.2.png

• Receiver must know the exact start time
• Imprecise start time corrupts data

Start Bit, Synchronization

IoTM2W4L2.2_2.png

• Detection of the start bit is used to synchronize
  • Synchronization based on falling edge of start bit
• Start bit is a falling edge
  • Following 0 must be long duration to screen out noise
• Receiver samples faster than baud rate(16x typical)
• Start bit indicated by a 0 of at least half period

Lecture 2.3 UART Parity and Stop

Parity Bit

• Transmission medium is assumed to be error-prone
  • E-M radiation noise, synchronization accuracy
• Parity bit may be transmitted to check for errors
  • Even Parity: Number of 1's is even
  • Odd Parity: Number of 1's is odd
• Parity bit is added to ensure even/odd parity
  • After data, before stop bit(s)
• Data = 011011010
  • Parity bit = 1, total parity is odd

Stop bit

• Receiver expects a 1 after all data bits and parity bits
• If 1 is not received, an error has occurred

Data throughput vs. Baud

• Every transmission involves sending signaling bits
  • Stop, start, parity
• Data throughput rate is lower than baud rate
  • Signaling bits must be sent
• 8 data bits, 1 parity bit, baud rate = 9600
  • Send 1& bits to send 9 data bits
  • Transmission efficiency = 8/11 = 73%
  • Data throughput rate = 9600*0.73 = 6981.8 bps

Lesson 3

Lecture 3.1 Serial on Arduino

Arduino Serial Communication

• UART protocol used over the USB cable
• Initialize by using Serial.begin()
• Serail.begin(speed) or Serial.begin(speed, config)
• speed is the baud rate
• config sets the data bits, parity, and stop bits
• Serial.begein(9600)
• Serial.begein(9600, SERIAL_8N1)
  • 8 data, no parity, 1 stop
• Usually call Serial.begin() in the setup function

Sending Text Over Serial

• Use Serial.print() or Serial.println() to print text in the monitor
• Strings are converted to ASCII and sent using UART
• Use Serial.write()
• Serial monitor still interprets data as ASCII
• 42 is the ASCII value for '*'

Lecture 3.2 Reading from Serial

Reading Data Over Serial

• Data can be sent to the Arduino via the serial monitor
• When data is sent it goes into a buffer in the Arduino until it is read
• Serial.available() is used to see how many bytes are waiting in the buffer

Serial.read()

• Returns 1 byte from the serial buffer

    int bval = Serial.read();
  

• Returns -1 if no data is available

• Serial.readBytes() writes several bytes into a buffer

    char buff[10];
    Serial.readBytes(buff, 10);