Preface
Preface to the Second Edition
Contents
1: Introduction
1.1 What Do You Find in This Book?
1.2 For Whom Is This Book Written?
1.3 What Knowledge Does the Book Presuppose?
1.4 Why Does the Book Not Describe an Arduino?
1.5 Additional Materials
1.6 Disclaimer
1.7 Thanks
References
2: Introduction to the Programming Language C
2.1 The C Language: Background and Structure
Example
2.2 Identifiers, Keywords and Symbols in C
2.2.1 Identifier
2.2.2 Keywords
2.2.3 Symbols
2.2.4 Instructions
Example
2.3 Comments
2.3.1 Single-Line Comment
2.3.2 Multiline Comment
2.3.3 Doxygen Comments
2.4 Types, Variables and Constants
2.4.1 Fundamental Data Types
2.4.2 Declaration of Variables
Examples
Example
2.4.3 Constants
2.5 Operators
2.5.1 Arithmetic Operators
2.5.2 Logical Operators
2.5.3 Bit Operators
2.5.4 Operators for Memory Accesses
2.5.5 Other Operators
2.5.6 Associativity and Priority of Operators
2.5.7 Type Conversion
2.6 Control Structures
2.6.1 Branches (Selection)
2.6.2 Pitfalls
2.6.3 Multiple Branching
2.7 Loops
2.7.1 Head Controlled Loops
2.7.2 Foot-Controlled Loops
2.7.3 Counting Loops
2.7.4 Jumps
2.8 Functions
2.8.1 int main()
2.8.2 Definition and Declaration
2.8.3 Visibility and Lifetime of Variables in Functions
2.8.4 Header
2.8.5 The Keywords External, Volatile and Static
Example
2.9 Complex Data Types
2.9.1 Arrays, Fields and Strings
2.9.2 Structure
2.9.3 Unions
2.9.4 Enumeration Types
2.9.5 Pointer
2.9.5.1 Use in Function Calls
2.9.5.2 Pointer Arithmetic
2.9.5.3 Pointers to Functions
2.9.5.4 Const Pointer
2.10 Structure of an Embedded C Program
2.11 Working with the Precompiler
2.11.1 #define and Working with Macros
2.11.2 #pragma
2.11.3 Summary of the Precompiler Commands
2.12 Translating and Binding
References
3: Programming of AVR Microcontrollers
3.1 Architecture of the AVR Family
3.2 Packaging and Pin Assignments
3.3 Supply, Clock and Reset Logic
3.3.1 Supply
3.3.2 Clock
3.3.3 Reset Logic
3.3.4 Memory
3.4 Handling Registers
3.5 Digital Input/Output
3.5.1 Basic Structure
3.5.2 Programming
3.6 Interrupts
3.6.1 Getting Started with Interrupts
3.6.2 Interrupt Programming Using the Example of the Pin Change Interrupt
3.6.3 The External Interrupts INTx
3.7 Timer
3.7.1 Timer Basics
3.7.2 Programming the Timer/Counter
3.7.2.1 Generation of a One Second Cycle
3.7.2.2 Generation of a Fixed Frequency at an Output
3.7.2.3 Output of a PWM Signal
3.7.2.4 Debouncing the Keyboard with the Timer
3.7.2.5 PWM for Advanced Users
3.7.2.6 Continuous Timing Between Input Pulses
3.7.2.6.1 Time Measurement in the Millisecond Range
3.7.2.6.2 Measurement of the Phase of Two Sinusoidal Signals (Active and Reactive Power Measurement)
3.7.2.7 Hardware Control of Motors with PWM Signals
3.8 Analog Interface
3.8.1 Analog Multiplexer
3.8.2 Analog Comparator
3.8.3 AD Converter (ADC)
3.8.3.1 Functionality
3.8.3.2 Triggering the Measurement
3.8.3.3 Registers for AD Programming
3.8.3.4 ADC Initialization
3.8.4 Example: Thermometer
3.8.5 Example: RMS Value Measurement on a Sinusoidal Voltage
3.9 Power Management
3.10 Internal EEPROM
3.10.1 Declaration of a Variable in the EEPROM
3.10.2 Reading from the EEPROM
3.10.3 Writing to the EEPROM
3.11 Dynamic Memory Use
3.12 Moving Data to the Program Memory
References
Further Reading
4: Software Framework
4.1 Views
4.2 Hardware Abstraction
4.3 Modularisation and Access to Modules
4.4 Time Control
References
5: Memory Concepts and Algorithms
5.1 Important Storage Concepts
5.1.1 Queues and Ring Buffers (FIFO)
5.1.2 Queue with Dynamic Data Structures
5.1.3 Multiple Queues in One Program
5.1.4 Multiple Queues with Different Types
5.2 State Machines
5.2.1 General Consideration
5.2.2 Description of State Machines
Example
5.2.3 Implementation of State Machines on Microcontrollers
References
6: Theoretical Considerations for IoT Networks
6.1 The ISO/OSI Layer Model
6.1.1 Layer 1: Physical Layer
6.1.1.1 Wires
6.1.1.2 Transceiver
6.1.1.3 Transmission Security
6.1.1.4 Network Topologies
6.1.1.5 Synchronization and Line Coding
6.1.2 Layer 2: Data Link Layer
6.1.2.1 Framing
6.1.2.2 Media Access: MAC
6.1.2.3 Communication Control
6.1.2.4 Time Behaviour
6.1.2.5 Error Handling
6.1.3 Layer 3: Network Layer
6.1.4 Layer 4: Transport Layer
6.1.5 Application Protocols for IoT Networks
6.2 Requirements for IoT Networks
References
7: Asynchronous Serial Interfaces
7.1 Universal Asynchronous Receiver/Transmitter (UART)
7.1.1 Hardware Connection in the AVR Family
7.1.2 UART Registers on the ATmega 88
7.1.3 Initializing the UART Interface on the ATmega88
7.1.4 Receiving Data
7.1.5 Sending Data
7.1.6 Implementation of UartWriteBuffer()
7.1.7 UART Multiprocessor Mode
7.1.7.1 Initialization of the Bus Devices in UART Multiprocessor Mode
7.1.7.2 Receiving Data in UART Multiprocessor Mode
7.1.7.3 Sending Frames in UART Multiprocessor Mode
7.2 Connection of the Serial Interface to USB
7.3 A Simple Serial Protocol
7.3.1 Establishing Code Transparency by Bytestuffing
References
8: Serial Peripheral Interface (SPI)
8.1 Structure and Mode of Operation
8.2 Configuration of the SPI Interface
Example
8.3 SPI Interface in Slave Mode
8.4 SPI Interface in a Sensor Network
8.5 3-Wire SPI Communication
8.6 SPI Master Via USART
Reference
9: The I2C/TWI Interface
9.1 I2C-Bus Configuration
9.2 Bus Extension
9.2.1 I2C-Repeater
9.2.2 I2C-Hub
9.2.3 I2C Multiplexer
9.2.4 I2C-Switch
9.3 TWI in the AVR Family [5]
9.3.1 TWI Register at the ATmega 88
9.3.2 Initializing the TWI Interface
9.3.3 TWI Communication
9.3.4 The Microcontroller ATmega as TWI Master
9.3.4.1 The TWI Master as Transmitter
9.3.4.2 The TWI Master as Receiver
9.3.5 The Microcontroller ATmega as TWI Slave
9.3.5.1 The TWI Slave as Receiver
9.3.5.2 The TWI Slave as Transmitter
References
10: CAN Bus
10.1 CAN Basics Compact
10.2 CAN Timing
10.3 Use of CAN with Processors of the AVR Family
10.3.1 CAN Controller MCP2515
10.3.1.1 Initialization
10.3.1.2 Sending Messages
10.3.1.3 Receiving Messages
10.3.2 AT90CANxx
10.3.2.1 Implementation on the AT90CANx
10.3.2.1.1 Initialization
10.3.2.1.2 Sending Messages
10.3.2.1.3 Receiving Messages
10.3.3 Implementation with the CAN Library of the Robot Club Aachen
10.4 CAN Transport Protocol
10.5 CANopen in Industrial Control Technology
References
11: The Modbus
11.1 TIA/EIA-485 as Physical Layer for MODBUS
11.2 MODBUS Communication
11.2.1 Remote Terminal Unit Transmission
11.2.2 ASCII Transmission
References
12: Single-Wire Bus Systems
12.1 1-Wire-BUS
12.1.1 Network Topology
12.1.2 Initialization of the Bus
12.1.3 1-Wire Bit Transmission
12.1.4 Communication Session
12.1.4.1 ROM Commands
12.1.4.1.1 Search ROM (Code 0xF0)
12.1.4.1.2 Read ROM (Code 0x33)
12.1.4.1.3 Match ROM (Code 0x55)
12.1.4.1.4 Skip ROM (Code 0xCC)
12.1.4.2 Addressing
12.1.4.3 Function Commands
12.1.5 Software Structure of the 1-Wire Bus Communication
12.1.6 Control of a 1-Wire Temperature Sensor of the Type DS18B20
12.1.6.1 Memory Organization
12.1.6.2 Temperature Coding
12.1.6.3 Function Commands DS18B20
12.1.6.3.1 Start Temperature Measurement (0x44)
12.1.6.3.2 Write RAM (0x4E)
12.1.6.3.3 Read RAM (0xBE)
12.2 UNI/O Bus
12.2.1 Network Topology
12.2.2 Bit Coding
12.2.3 UNI/O Frame
12.2.4 Communication Session
12.2.4.1 Initialization of Communication
12.2.4.2 Addressing
12.2.4.3 Function Commands
12.2.5 Software Structure of UNI/O Bus Communication
12.2.6 Control of a 11XXYZ-EEPROM
12.2.6.1 Memory Write Protection of the 11XXYZ Devices
12.2.6.2 Addressing the 11XXYZ-EEPROMs
12.2.6.3 Function Commands of the 11 XXYYZ EEPROMs
12.2.6.3.1 Commands that Trigger an Internal Action
12.2.6.3.2 Commands Indicating an Implicit Address
12.2.6.3.3 Commands that Refer to an Explicit Address
12.2.6.4 Parasitic Supply of an 11XXYZ-EEPROM
12.3 LIN Bus
References
13: Wireless Networks
13.1 Basics of the Radio Interfaces
13.1.1 Multiplexing
13.1.2 Sensor Nodes
13.2 Radio Transmission in the 433 MHz and 868 MHz ISM Bands
13.2.1 Structure of the RFM12B
13.2.2 Wiring of the RFM12 Radio Module
13.2.3 The SPI Communication
13.2.4 The Instruction Set
13.2.5 The Status Register
13.2.6 Initialization of the Transceiver
13.2.7 Send Data
13.2.8 Reading the Received Data
13.3 Radio Protocols in the 2.4 GHz ISM Band
13.3.1 Bluetooth
13.3.1.1 Physical Layer [12, 15]
13.3.1.2 Communication Topologies
13.3.1.2.1 BR/EDR Topologies
13.3.1.2.2 LE Topologies [15]
13.3.1.3 Establishing a Connection in a Piconet
13.3.1.3.1 Establishing a Connection in a BR/EDR Piconet
13.3.1.3.2 Establishing a Connection in a LE Piconet
13.3.1.4 Security of Communication
13.3.2 ZigBee
13.3.2.1 ZigBee Devices
13.3.2.2 Protocol Structure
13.3.2.3 Physical Layer
13.3.2.4 Network Layer
13.3.2.5 ZigBee Device Object
13.3.2.6 Application Framework
13.4 Bluetooth Communication with the Serial Profile
13.4.1 Operating Modes
13.4.2 Command Set
Example
13.4.3 Initialization of the Radio Module
13.4.3.1 Initialization of the Bluetooth Master
13.4.3.2 Initialization of the Bluetooth Slave
References
14: Sensor Technology System Considerations
14.1 Sampling
14.2 Quantization
14.3 Digital Filtering
14.3.1 Finite Impulse Response (FIR) Filter
14.3.2 Infinite Impulse Response (IIR) Filter
14.3.3 Filtering Using the Example of an FIR Filter
14.4 I/O Control Logic
14.5 Abstraction of the I/O Pins
14.6 Integer Arithmetic
14.6.1 Microcontroller Internal Number Formats
14.6.2 Unsigned Integer Types
14.6.3 Signed Integer Types
14.6.4 Detection and Prevention of Overflow
References
15: Environmental Sensors
15.1 MPL3115 Digital Air Pressure Sensor
15.1.1 Functionality
15.1.2 Structure of the MPL3115
15.1.2.1 Measuring Probe
15.1.2.2 Register
15.1.2.2.1 Control Register Block
15.1.2.2.2 Status Registers
15.1.2.2.3 Measured Value Registers
15.1.2.2.3.1 Absolute Measured Values
15.1.2.2.3.2 Relative Measured Values
15.1.2.2.3.3 Extreme Values
15.1.2.2.3.4 FIFO Registers
15.1.2.2.3.5 Interrupt Registers
15.1.2.2.3.6 Device Identification Registers
15.1.3 Serial Communication
15.1.4 Power Modes
15.1.5 Measuring and Reading Modes
15.1.6 Initialization of the MPL3115 Sensor
15.2 Humidity Sensor SI7021
15.2.1 Structure of the SI7021
15.2.2 Serial Communication
15.2.2.1 Access to the Control Register
15.2.2.2 Measurement of Relative Humidity
15.2.2.3 Measurement of Temperature
15.2.2.4 Reading the Electronic ID and the Firmware Revision
15.2.3 Calculation of Temperature and Relative Humidity
15.2.4 Testability
15.3 Temperature Measurement with the TMP75
15.3.1 Sensor Configuration
15.3.2 Serial Interface
15.3.3 Temperature Measurement
15.3.4 Thermostat Function
15.4 Fine Dust Sensor SDS011
15.4.1 Measuring Principle
15.4.2 Control and Serial Communication
References
16: Accelerometers
16.1 Acceleration Sensor ADXL312
16.1.1 Networking of the ADXL312
16.1.2 Measurement Data Acquisition
16.1.2.1 Initialization of the Sensor
16.1.2.2 Working Mode
16.1.2.3 Measurement Frequency Setting
16.1.2.4 Measurement Data Format
16.1.2.5 Saving Measurement Data
16.1.2.6 Reading the Measured Values
16.1.3 Offset Determination
16.1.4 Interrupt Mode
16.1.5 ADXL312 as Inclination Sensor
16.1.5.1 Theoretical Approach
16.1.5.2 Correction of the Measured Values
16.1.5.3 Calculation of the Angle of Inclination and the Direction of Inclination
16.2 MMA6525
16.2.1 Sensor Structure
16.2.2 Register Block
16.2.2.1 OTP-Register
16.2.2.2 Read-Write Registers
16.2.2.3 Read-Only Registers
16.2.3 SPI Communication
16.2.3.1 Initialization of the Sensor
16.2.3.2 Reading a Register
16.2.3.3 Writing a Register
16.2.3.4 Reading Out the Acceleration Values
References
17: Angular Rate Sensors
17.1 Gyroscope
17.1.1 Wiring of the L3GD20
17.1.2 Communication Interfaces
17.1.3 Working Modes
17.1.3.1 Angular Velocity Measurement
17.1.3.2 Intermediate Storage of the Measured Values
17.1.3.2.1 Direct Saving
17.1.3.2.2 Buffered Storage
17.1.3.2.2.1 Bypass Mode (FIFO_EN = 1 and FM2:0 = 000)
17.1.3.2.2.2 FIFO Mode (FIFO_EN = 1 and FM2:0 = 001)
17.1.3.2.2.3 Stream Mode (FIFO_EN = 1 and FM2:0 = 010)
17.1.3.3 Reading Out the Measured Values
17.1.3.3.1 Reading Out the Directly Stored Measured Values
17.1.3.3.2 Reading Out the Buffered Measured Values
17.1.3.4 Interrupt Control
17.1.3.4.1 Threshold Setting for Interrupt 1
17.1.3.4.2 Setting the Pulse Duration at Pin INT1
17.1.3.5 Temperature Measurement
References
18: Magnetic Field Sensors
18.1 HMC5883 Magnetic Field Sensor
18.1.1 Structure of the HMC5883
18.1.1.1 Sensing Elements
18.1.1.2 Control Logic
18.1.1.3 Serial Communication
18.1.1.4 Register Block
18.1.1.4.1 Configuration Registers
18.1.1.4.2 Measured Value Registers
18.1.1.4.3 Status Register (Address 0x09)
18.1.1.4.4 Identification Registers
18.1.2 Reading HMC5883 Measured Values
18.1.2.1 Reading Measured Values in Single Measurement Mode
18.1.2.2 Reading Measured Values in Free-Running Measuring Mode
18.1.2.2.1 Asynchronous Reading in Free-Running Mode
18.1.2.2.2 Synchronous Reading in Free-Running Mode
18.1.3 Calibration of the Sensor
Example
18.1.4 HMC5883 as Electronic Compass
18.1.5 Angle Calculation with the CORDIC Algorithm
References
19: Proximity Sensors
19.1 Ultrasonic Proximity Sensors
19.1.1 Measuring Principle
19.1.2 SRF08: Ultrasonic Measuring Module
19.1.2.1 Structure
19.1.2.2 Serial Communication
19.1.2.3 Measurement Value Acquisition
19.1.2.3.1 Distance Measurement Mode
19.1.2.3.2 Artificial Neural Network: Measurement Mode
19.1.2.3.3 Light Brightness Measurement
19.2 SI114x: Optical Proximity Sensor
19.2.1 SI114x: Operating Modes
19.2.2 SI114x: Structure
19.2.3 Serial Communication
19.2.4 Measurements with the SI114x
19.2.4.1 Measuring Mode: Setting and Selection of the Measuring Channel
19.2.4.2 Setting the Infrared Light Pulses
19.2.4.3 Selection of the Measuring Sensor and the Measuring Settings
19.2.4.4 Initialization of the Sensor
19.2.4.5 Starting the Measurement
19.2.4.6 Reading the Measured Values
19.2.5 Interrupts
19.2.6 SI114x: Network Identification
References
20: Digital-to-Analog and Analog-to-Digital Converters
20.1 MCP48XX SPI-Driven Digital-to-Analog Converters
20.1.1 The SPI Interface
20.1.2 The Input Register
20.1.3 The D/A Converter
20.1.4 The Analog Output Amplifier
20.1.5 Synchronous Control of Two D/A Converters
20.1.6 Software Example
20.2 PCF8591 I2C-Controlled D/A and A/D Converter
20.2.1 I2C Communication
20.2.2 The D/A Converter
20.2.3 The A/D Converter
20.2.4 The Control Register
20.2.5 The Oscillator
20.3 Current Measurement with the LMP92064
20.3.1 LMP92064 Structure
20.3.2 Serial Communication
20.3.3 Measuring with the LMP92064
20.3.3.1 Voltage Measurement
20.3.3.2 Current Measurement
References
21: Serial EEPROMs
21.1 Parallel Read-Only Memories
21.2 Serial EEPROM Memory
21.2.1 M24C64: I2C-Controlled EEPROM
21.2.1.1 I2C Communication
21.2.1.2 Reading
21.2.1.2.1 Sequential Reading from the Current Address
21.2.1.2.2 Sequential Reading with Direct Access
21.2.1.3 Write
21.2.1.4 Testability
21.2.2 25LC256: SPI Controlled EEPROMs
21.2.2.1 Write Protection of the Memory
21.2.2.2 Read-Write Functions
21.2.2.3 Memory Control
21.2.2.4 Initialization of the SPI Interface of the Microcontroller
21.2.2.5 Software Example
References
22: Serial Flash Memory
22.1 AT45DB161 Serial Flash Memory
22.1.1 SPI Communication
22.1.2 SRAM Buffer Memory
22.1.3 Flash Main Memory
22.1.4 Reading
22.1.4.1 Reading from the Entire Memory Area
22.1.4.2 Reading Within a Memory Page
22.1.4.3 Loading a Memory Page Into a Buffer
22.1.5 Write
22.1.5.1 Write Buffer in Flash Page with Erase
22.1.5.2 Write Buffer in Flash Page Without Erase
22.1.5.3 Comparison Between Stored Page and Source Buffer
22.1.5.4 Write Data Via Buffer in Flash Page with Erase
22.1.5.5 Memory Write with Direct Access Via Buffer 1
22.1.6 Erase
22.1.7 Memory Protection
22.1.7.1 Temporary Write Protection (Sector Protection)
22.1.7.2 Permanent Write Protection (Sector Lockdown)
22.1.8 Testability
22.1.8.1 Status Registers
22.1.8.2 Security Register (Security Register)
22.1.8.3 Manufacturer and Chip ID Registers
22.2 SST25WF0808 Serial Flash Memory
22.2.1 SPI Communication
22.2.2 Status Register
22.2.3 Read Functions
22.2.4 Erase Functions
22.2.5 Write Functions
22.2.6 2-Line Serial Interface
References
23: Integrated Circuits for Audio Technology
23.1 SI4840 Radio IC
23.1.1 Module Description
23.1.2 Selection of the Frequency Band and Frequency Tuning
23.1.3 Initializing the Device
23.1.4 Communication with the Device
23.1.4.1 Power_Up Command
23.1.4.2 Power_Down Command
23.1.4.3 Get_Status Command
23.1.4.4 Audio Mode Command
23.1.4.5 Set_Property Command
23.1.4.6 Get_Property Command
23.1.4.7 Get_Rev Command
23.1.5 Searching for Broadcast Stations with the SI4840
23.2 LM48100Q Amplifier Module
References
24: Networkable Integrated Circuits
24.1 PCF8574: Port Expander
24.1.1 Output Stage of an I/O Pin
24.1.2 Output Port Mode
24.1.3 Input Port Mode
24.1.4 Interrupt Mode
24.1.5 PCA9534
24.2 MCP41X1 Digital Variable Resistors
24.2.1 Power On/Brown Out Reset Circuitry
24.2.2 Electrical Resistance
24.2.3 Potentiometer Registers
24.2.4 Control Functions of the MCP4151 Device
24.2.5 SPI Communication
24.2.6 Software Example
24.3 MAX31629: Real Time Clock (RTC)
24.3.1 Timing
24.3.2 Alarm Time
24.3.3 Temperature Measurement
24.3.4 Thermostat with Alarm Function
24.3.5 I2C Communication
References
25: Displays
25.1 Introduction
25.1.1 Display Layout
25.1.2 Emissive and Non-emissive Displays
25.1.2.1 Liquid Crystal Displays (LCD)
25.1.2.2 LED Indicators
25.1.3 Image Composition
25.1.4 Display Control
25.2 Dot Matrix LCD Display with Parallel Control
25.2.1 Structure of a Display with a KS0070B Controller
25.2.2 Command Set
25.2.3 4-Bit Communication
25.2.4 Generation of a New Character
25.2.5 Execution of the Display Commands Without Blocking Wait
25.3 Serial Control of a Parallel LC Display
25.3.1 Display Control Via I2C
25.3.2 Software Example: Transmission of a Data Byte
25.4 DOGS102-6: Graphic Display with Serial Control
25.4.1 Structure of the Graphic Display DOGS 102-6
25.4.2 SPI Communication
25.4.3 Command Set
25.4.4 Generation of a Character
References
26: Example Projects
26.1 Data Logger
26.1.1 Structure of the Model Rocket
26.1.2 Description of the Project
26.1.3 Description of the Software
26.1.3.1 The State Machine
26.1.3.2 Logging on the Flash
26.1.3.3 Read Out Data
26.1.4 Evaluation
26.2 Smart Home with CAN
26.2.1 Structure
26.2.1.1 Keyboard Block
Reference