TheHumanandPhysicalInterface

Chapter8 Sections1 9

Dr.IyadJafar

Outline
Introduction FromSwitchestoKeypads LEDDisplays SimpleSensors Actuators Summary

Introduction
Humansneedto interfacewith embeddedsystems; inputdataandsee response Inputdevices:switches, pushbuttons,keypads, sensors Outputdevices:LEDs, sevensegmentdisplays, liquidcrystaldisplays, motors,actuators
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UserInteraction

Software
Input Variables

Embedded Computer Hardware

Output Variables

Linktoother systems

Examples

Introduction

FridgeControlPanel

PhotocopierControl

Introduction
Examples

CarDashboard
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MovingFromSwitchestoKeypads
Switchesaregoodforconveyinginformationofdigitalnature Theycanbeusedinmultiples;eachconnectedtooneportpin Incomplexsystems,itmightnotbefeasibletokeepadding switches?! Usekeypads!
Canbeusedtoconveyalphanumericvalues Agroupofswitchesarrangedinmatrixform

MovingFromSwitchestoKeypads
InternalStructureofKeypad

MovingFromSwitchestoKeypads
HowtoDeterminethePressedKey

MovingFromSwitchestoKeypads
UsingKeypadinaMicrocontroller

MovingFromSwitchestoKeypads
Example
Aprogramtoreadaninputfroma4x3keypadanddisplaysthe equivalentdecimalnumberon4LEDs.Ifthepressedkeyisnot anumber,thentheLEDsshouldbeallon.
ThekeypadwillbeconnectedtoMCasfollows Rows0to3connectedtoRB7toRB4respectively. Columns0to2connectedtoRB3toRB1

UseportBchangeinterrupt connecttheLEDstoRA0RA3 basedonthepressedkey,converttherowandcolumnvaluesto binaryusingalookuptable

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KeypadInterfacingExample
#INCLUDE ROW_INDEX COL_INDEX PIC16F84A.INC EQU EQU ORG 0X0000 GOTO START ORG 0X0004 GOTO ISR BSF MOVLW MOVWF MOVLW MOVWF BCF CLRF MOVF BCF BSF BSF GOTO 0X20 0X21

START

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LOOP

STATUS,RP0 B11110000 TRISB ;SETRB1RB3ASOUTPUTAND ;RB4RB7ASINPUT B00000000 TRISA ;SETRA0RA3ASOUTPUT STATUS,RP0 PORTB ;INITIALIZEPORTBTOZERO PORTB,W ;CLEARRBIFFLAG INTCON,RBIF INTCON,RBIE INTCON,GIE;ENABLEPORTbCHANGEINTERRUPT LOOP ;WAITFORPRESSEDKEY

KeypadInterfacingExample
ISR MOVF MOVWF BSF MOVLW MOVWF BCF CLRF MOVF MOVWF CALL BSF MOVLW MOVWF MOVLW MOVWF BCF CLRF MOVF BCF RETFIE PORTB,W ;READROWNUMBER ROW_INDEX STATUS,RP0;READCOLUMNNUMBER B00001110 TRISB STATUS,RP0 PORTB PORTB,W COL_INDEX CONVERT ;CONVERTHEROWANDCOLUMN STATUS,RP0;PUTTHEPORTBACKTOINITIALSETTINGS B11110000 TRISB ;SETRB1RB3ASOUTPUTAND B00000000;RB4RB7ASINPUT TRISA ;SETRA0RA3ASOUTPUT STATUS,RP0 PORTB PORTB,W ;REQUIREDTOCLEARRBIFFLAG INTCON,RBIF

RST_PB_DIRC

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KeypadInterfacingExample
CONVERT BTFSS MOVLW BTFSS MOVLW BTFSS MOVLW MOVWF BTFSS MOVLW BTFSS MOVLW BTFSS MOVLW BTFSS MOVLW MOVWF COL_INDEX,3 ;IF1ST COLUMN,COL_INDEX=0 0 COL_INDEX,2;IF2ND COLUMN,COL_INDEX=1 1 COL_INDEX,1;IF3RD COLUMN,COL_INDEX=2 2 COL_INDEX;STORETHECOLUMNINDEX ROW_INDEX,7 ;IF1ST ROW,ROW_INDEX=0 0 ROW_INDEX,6 ;IF2ND ROW,ROW_INDEX=1 1 ROW_INDEX,5 ;IF3RD ROW,ROW_INDEX=2 2 ROW_INDEX,4;IF4TH ROW,ROW_INDEX=3 3 ROW_INDEX

FIND_ROW

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;CONTINUEDONNEXTPAGE

KeypadInterfacingExample
COMPUTE_VALUE MOVF ADDWF ADDWF ADDWF CALL MOVWF RETURN ROW_INDEX,W ;KEY#=ROW_INDEX*3+COL_INDEX ROW_INDEX,W ROW_INDEX,W COL_INDEX,W;THEVALUEISINW TABLE PORTA ;DISPLAYTHENUMBERONPORTA

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KeypadInterfacingExample
TABLE ADDWF RETLW RETLW RETLW RETLW RETLW RETLW RETLW RETLW RETLW RETLW RETLW RETLW END PCL,F 0X01 0X02 0X03 0X04 0X05 0X06 0X07 0X08 0X09 0X0F 0X00 0X0F

;ERRORCODE ;ERRORCODE

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LEDDisplays
Lightemittingdiodesaresimpleandeffectiveinconveying information However,incomplexsystemsitbecomeshardtodealwith individualLEDs Alternatives
Sevensegmentdisplays Bargraph Dotmatrix Starburst

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SevenSegmentDisplay

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SevenSegmentDisplay
Multiplexingofsevensegmentdigits
Connection Segmenta Segmentb Segmentc Segmentd Segmente Segmentf Segmentg Segmentdp Digit1drive Digit2drive Digit3drive Digit4drive PortBit RB7 RB6 RB5 RB4 RB3 RB2 RB1 RB0 RA0 RA1 RA2 RA3

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SevenSegmentDisplay
Multiplexingofsevensegmentdigits

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SevenSegmentDisplay
Example
Aprogramtocountcontinuouslythenumbers0through99 anddisplaythemontwosevensegmentdisplays.Thecount shouldbeincrementedevery1sec.Oscillatorfrequencyis3 MHz.
connectthesevensegmentinputsa throughg toRB0throughRB6

respectively connectthegatesofthecontrollingtransistorstoRA0(LSD)andRA1 (MSD) themainprogramwillberesponsiblefordisplayandmultiplexing every5ms

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SevenSegmentDisplayExample
#INCLUDE LOW_DIGIT HIGH_DIGIT COUNT PICF84A.INC EQU EQU EQU ORG 0X0000 GOTO START ORG 0X0004 GOTO ISR BSF MOVLW MOVWF MOVLW MOVWF BCF CLRF CLRF CLRF CLRF CLRF 0X20 0X21 0X22

ISR START

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STATUS,RP0 B00000000;setportBasoutput TRISB B0000000 TRISA ;SETRA0RA1ASOUTPUT STATUS,RP0 PORTB PORTA LOW_DIGIT;CLEARTHECOUNTVALUE HIGH_DIGIT COUNT

SevenSegmentDisplayExample
DISPLAY BCF MOVF CALL MOVWF BCF BSF CALL STATUS,RP0 LOW_DIGIT,W;DISPLAYLOWERDIGIT TABLE ;GETTHESEVENSEGMENTCODE PORTB PORTA,1 ;enabledigit0 PORTA,0 DELAY_5MS ;KEEPITONFOR5MS

MOVF CALL MOVWF BCF BSF CALL

HIGH_DIGIT,W;DISPLAYHIGHDIGIT TABLE ;GETTHESEVENSEGMENTCODE PORTB PORTA,0 PORTA,1 DELAY_5MS;KEEPITONFOR5MS

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SevenSegmentDisplayExample
;CHECKIF1SECELAPSED INCF COUNT,F ;INCREMENTTHECOUNTVALUEIFTRUE MOVF COUNT,W SUBLW D100 BTFSS STATUS,Z GOTO DISPLAY;DISPLAYTHESAMECOUNT INCF MOVF SUBLW BTFSS GOTO CLRF INCF MOVF SUBLW BTFSS GOTO CLRF GOTO LOW_DIGIT,F;INCREMENTLOWDIGITANDCHECKIF>9 LOW_DIGIT,W 0X0A STATUS,Z DISPLAY LOW_DIGIT HIGH_DIGIT,F;INCREMENTHIGHDIGITANDCHECKIF>9 HIGH_DIGIT,W 0X0A STATUS,Z DISPLAY HIGH_DIGIT DISPLAY

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SevenSegmentDisplayExample
DELAY_5MS REPEAT MOVLW MOVWF NOP NOP NOP NOP NOP NOP NOP NOP NOP NOP NOP NOP DECFSZ GOTO RETURN D250 0X40

0X40,1 REPEAT

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SevenSegmentDisplayExample
TABLE

ADDWFPCL, 1 RETLW B'00111111' RETLW B'00000110' RETLW B'01011011' RETLW B'01001111' RETLW B'01100110' RETLW B'01101101' RETLW B'01111101' RETLW B'00000111' RETLW B'01111111' RETLW B'01101111'

;'0' ;'1' ;'2' ;'3' ;'4' ;'5' ;'6' ;'7' ;'8' ;'9'

END

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Sensors
Embeddedsystemsneedtointerfacewiththe physicalworld Mustbeabletodetectthestateofthephysical variablesandcontrolthem Inputtransducersorsensorsareusedtoconvert physicalvariablesintoelectricalvariables
Lightsensors Temperaturesensors

Outputtransducersconvertelectricalvariablesto physical;actuators
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Sensors
TheMicroswitch

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Sensors
LightdependentResistors
Alightdependentresistor(LDR)is madefromapieceofexposed semiconductormaterial Whenlightfallsonit,itcreates holeelectronpairsinthe material,whichimprovesthe conductivity.
Illumination(lux) Dark 10 1000
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RLDR (Ohms) 2M 9000 400

Vo 5 2.36 0.19

Sensors
OpticalObjectSensing
Usefulinsensingthepresenceorclosenessofobjects Thepresenceofobjectcanbedetected
Ifitbreaksthelightbeam Ifitreflectsthelightbeam

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Sensors
OptosensorasaShaftEncoder
Usefulinmeasuringdistanceandspeed

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Sensors
UltrasonicObjectSensor
Basedonreflectiveprincipleofultrasonicwaves Anultrasonictransmittersendsoutaburstof ultrasonicpulsesandthenthereceiverdetectsthe echo Ifthetimetoechoismeasured,distancecanbe measured

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Actuators:motorsandservos
Embeddedsystemsneedtocausephysicalmovement Linearorrotarymotion Mostactuatorsareelectricalinnature
Solenoids(linearmotion) Servomotors(rotarymotion) DCorsteppermotors(rotarymotion)

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DCMotors
Rangefromtheextremelypowerfultotheverysmall Widespeedrange Controllablespeed Goodefficiency Canprovideaccurateangularpositioningwithangular shafts Onlythearmaturewindingneedstobedriven

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StepperMotors
Asteppermotor (orstepmotor)isasynchronouselectric motorthatcandivideafullrotationintoalargenumberof steps.

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StepperMotors
Features
Simpleinterfacewithdigitalsystems Cancontrolspeedandposition Awkwardstartupcharacteristics Losetorqueathighspeed Limitedtopspeed Lessefficient Morecomplextodrive

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ServoMotors
Allowspreciseangular motion Theoutputisashaftthat cantakeanangular positionoverarangeof 180o Theinputtotheservois apulsestreamwhose widthdeterminesthe angularpositionofthe shaft
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InterfacingtoActuators
Microcontrollerscandriveloadswithsmall electricalrequirements Somedevices,likeactuators,requirehighcurrents orsupplyvoltages Useswitchingdevices SimpleDCswitchingusingBJTsorMOSFETs ReversibleDCswitchingusingHbridge
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InterfacingtoActuators
SimpleDCinterfacing

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InterfacingtoActuators
SimpleDCinterfacing

Resistiveload
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Inductiveload

InterfacingtoActuators
SimpleDCinterfacing Characteristicsoftwopopularlogiccompatible MOSFETs

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Interfacing to Actuators
DrivingPiezo SounderandOptosensors

Piezo sounderratings:9mA,320V Theoptosensorfoundtooperatewellwith91Ohmresistor.Thediode forwardvoltageis1.7V.Therequiredcurrentisabout17.6mA

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Interfacing to Actuators
ReversibleDCSwitching
DCswitchingallowsdrivingloadswithcurrentflowinginone direction Someloadsrequirestheappliedvoltagetobereversible;DC motorsrotationdependsondirectionofcurrent UseHbridge!

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Interfacing to Actuators
ReversibleDCSwitching

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L293DDualHbridge Peakoutputcurrent1.2Aperchannel

Interfacing to Actuators
ReversibleDCSwitching DrivingthreemotorsusingL293D

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More on Digital Input

Whenacquiringdigitalinputsintothemicrocontroller, itisessentialthattheinputvoltageiswithinthe permissibleandrecognizablerangeoftheMC Voltagerangedependsonthelogicfamily;TTL,CMOS, Interfacingwithinthesamefamilyissafe Whatforthecase Interfacingtodigitalsensors Signalcorruption Interference

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More on Digital Input

PIC16F873APortCharacteristics

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More on Digital Input

FormsofSignalCorruption

Spikesinthesignal

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Slowedge

DCOffsetinthesignal

More on Digital Input

ClampingVoltageSpikes

Allportsareusually

protectedbyapairof diodes Anoptionalcurrent limitingresistorcanbe addedifhighspikesare expected

IfRprot =1K andthemaximumdiodecurrentis20mAwhenVd=0.3v, thenwhatisthemaximumpositivevoltagespikethatcanbesuppressed?

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More on Digital Input

AnalogInputFiltering

CanuseSchmitttriggerforspeedingupslowlogicedges. SchmitttriggerwithRCfiltercanbeusedtofiltervoltage spikes.

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More on Digital Input

SwitchDebouncing Mechanicalswitchesexhibitbouncingbehavior Theswitchcontactbouncesbetweenopenandclosed Aseriousproblemfordigitaldevices?!

Switchdebouncing!!hardwareand/orsoftware
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techniques

More on Digital Input

SwitchDebouncing

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More on Digital Input

SwitchDebouncing

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Summary
Microcontrollersmustbeabletointerfacewiththe physicalworldandpossiblythehumanworld Switches,keypadsanddisplaysrepresenttypicalexamples forinterfacingembeddedsystemswiththehumans Microcontrollersmustbeabletointerfacewitharangeof inputandoutputtransducers. Interfacingwithsensorsrequiresareasonableknowledge ofsignalconditioningtechniques Interfacingwithactuatorsrequiresareasonable knowledgeofpowerswitchingtechniques

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