A

MAJOR PROJECT SYNOPSIS

ON

GESTURE CONTROL ROBOT CAR

SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE
AWARD OF THE DEGREE OF

BACHELOR OF TECHNOLOGY
-+IN

ELECTRONICS & COMMUNICATION ENGINEERING

Submitted By
Abhinav

roll no. 1811802

Rupesh roll no. 1811224

Gourav roll no. 1811241
under the guidance of
er. Vivek kamboj

(2011-2015)
1

Haryana Engineering CollegeJagadhri

(Kurukshetra University, Kurukshetra)

ACKNOWLEDGEMENT

This project involved the collection and analysis of information from a wide variety of sources
and the efforts of many people beyond me. Thus it would not have been possible to achieve the
results reported in this document without their help, support and encouragement.

I will like to express my gratitude to the following people for their help in the work leading to
this report:

Ms. Medhavi Singh training supervisors: for their useful comments on the subject matter and for
the knowledge I gained by sharing ideas with them.

CERTIFICATE

ABSTRACT

The primary role of the Microchip PIC and other embedded microcontrollers is to provide
inexpensive, programmable logic control and interfacing to external devices. This means they
typically are not required to provide highly complex functionsthey cant replace the Opteron
processor in your ISPs server. They are well suited to monitoring a variety of inputs, including
digital signals, button presses, and analog inputs, and responding to them using the
preprogrammed instructions that are executed by the built-in computer processor. An embedded
microcontroller can respond to these inputs with a wide variety of outputs that are appropriate
for different devices. These capabilities are available to you at a very reasonable cost without a
lot of effort.

List of Figures

Sr

Title

Page No.

No.
Pic MicroController
Pin Diagram
Core Architecture
MickroC Compiler
Program Formation in compiler
5

11
14
17
20
22

LED Interfacing
7-Segment Display
Interfacing & Control Of Stepper Motor
Interfacing Of LCD
Temperature Monitoring
ADCON0 Register
ADCON1 Register
Switching Action Of PIC Pins
Interfacing Of Keyboard Matrix
Serial Comm. b/w PC &MicroController
TXSTA Register
MikroC UART Terminal Work
PCB Desinging& Simulation Tools
OrCad Layout Plus
TINA PRO

24
25
27
28
29
30
31
32
33
35
37
38
40
42
45

CHAPTER - 1
EMBEDDED SYSTEM

What is Embedded System?

Embedded system employs a combination of software & hardware to perform a specific
function. It is a part of a larger system which may not be a computer Works in a reactive &
time constrained environment.
Any electronic system that uses a CPU chip, but that is not a general-purpose workstation,
desktop or laptop computer is known as embedded system. Such systems generally use
microprocessors; microcontroller or they may use custom-designed chips or both.
They are used in automobiles, planes, trains, space vehicles, machine tools, cameras, consumer
and office appliances, cell phones, PDAs and other handhelds as well as robots and toys. The

uses are endless, and billions of microprocessors are shipper every year for a myriad of
applications.
In embedded systems, the software is permanently set into a read-only memory such as a ROM
or flash memory chip, in contrast to a general-purpose computer that loads its programs into
RAM each time. Sometimes, single board and rack mounted general-purpose computers are
called "embedded computers".
An embedded system is a computer system designed for specific control functions within a
larger system, often with real-time computing constraints. It is embedded as part of a complete
device often including hardware and mechanical parts. By contrast, a general-purpose computer,
such as a personal computer (PC), is designed to be flexible and to meet a wide range of enduser needs. Embedded systems control many devices in common use today.
An Embedded System is a processor based system that is embedded as a subsystem, in a larger
system.Embedded Systems are computing systems with tightly coupled software & hardware
integration that are designed to perform a dedicated task or functions

Specific
Hardware
task
Software

Embedded systems contain processing cores that are typically either microcontrollers or digital
signal processors (DSP) .The key characteristic, however, is being dedicated to handle a
particular task. Since the embedded system is dedicated to specific tasks, design engineers can
optimize it to reduce the size and cost of the product and increase the reliability and
performance. Some embedded systems are mass-produced, benefiting from economies of scale.
7

Physically, embedded systems range from portable devices such as digital watches and MP3
players, to large stationary installations like traffic lights, factory controllers, or the systems
controlling nuclear power plants. Complexity varies from low, with a single microcontroller
chip, to very high with multiple units, peripherals and networks mounted inside a large chassis
or enclosure.

memory

processor

programmable
logic

interfaces
(serial, network,
etc)

EMBEDDED

HARDWARE+ SOFTWAREFINAL SYSTEM

PERIPHERALS

i. Embedded Systems talk with the outside world via peripherals, such as:
II.

Serial Communication Interfaces (SCI): RS-232, RS-422, RS-485 etc.

III.

Synchronous Serial Communication Interface: I2C, SPI, SSC and ESSI

(Enhanced Synchronous Serial Interface)

IV.

Universal Serial Bus (USB)

8

V.
VI.
VII.
VIII.
IX.

Multi Media Cards (SD Cards, Compact Flash etc.)

Networks: Ethernet, LonWorks, etc.
Fieldbuses: CAN-Bus, LIN-Bus, PROFIBUS, etc.
Timers: PLL(s), Capture/Compare and Time Processing Units
Discrete IO: aka General Purpose Input/Output (GPIO)

X.

Analog to Digital/Digital to Analog (ADC/DAC)

XI.

Debugging: JTAG, ISP, ICSP, BDM Port, BITP, and DP9 ports.

Embedded System Applications:I.

II.

Consumer electronics, e.g., cameras, cell phones etc.

Consumer products, e.g. washers, microwave ovens etc.

III.

Automobiles (anti-lock braking, engine control etc.)

IV.

Industrial process controller & defense applications.

V.
VI.
VII.
VIII.

Computer/Communication products, e.g. printers, FAX machines etc.

Medical Equipments.
ATMs
Aircrafts

DIFFERENCE BETWEEN MICROPROCESSORS AND

MICROCONTROLLERS:
I.

A Microprocessor is a general purpose digital computer central processing unit

(C.P.U) popularly known as CPU on the chip. The Microprocessors contain no
RAM, no ROM, and no I/PO/P ports on the chip itself.

II.

On the other hand a Microcontroller has a C.P.U(microprocessor)in addition to a

fixed amount of RAM, ROM, I/O ports and a timer all on a single chip.

III.

In order to make a Microprocessor functional we must add RAM,ROM, I/O Ports

and timers externally to them, i.e. any amount of external memory can be added
to it.

IV.

But in controllers there is a fixed amount of memory which makes them ideal for
many applications.
10

V.

The Microprocessors have many operational codes(opcodes) for moving data

from external memory to the C.P.U

VI.

Whereas Microcontrollers may have one or two operational codes.

DISADVANTAGES OF MICROPROCESSORSOVER
MICROCONTROLLERS
I.
II.
III.

System designed using Microprocessors are bulky.

They are expensive than Microcontrollers.
We need to add some external devices such as PPI chip, Memory, Timer/counter
chip, Interrupt controller chip, etc. to make it functional.

TYPES OF MICROCONTROLLER ARCHITECTURE:

There are two types of Microcontroller architecture designed for embedded
system development. These are:
I.

RISC- Reduced instruction set computer.

11

II.

CISC- Complex instruction set computer

DIFFERENCE BETWEEN CISC AND RISC:

CISC stands for Complex Instruction Set Computer. Most PC's use CPU based on this
architecture. For instance Intel and AMD CPU's are based on CISC architectures. Typically
CISC chips have a large amount of different and complex instructions. In common CISC chips
are relatively slow (compared to RISC chips)per instruction, but use little (less than RISC)
instructions. MCS-51 family microcontrollers based on CISC architecture. RICS stands for
Reduced Instruction Set Computer. The philosophy behind it is that almost no one uses complex
assembly language instructions as used by CISC, and people mostly use compilers which never
use complex instructions. Therefore fewer, simpler and faster instructions would be better, than
the large, complex and slower CISC instructions. However, more instructions are needed .

I.

PIC Microcontroller

PIC 18 Series PIC18F458:

12

PIC is

family

of modified

architecture microcontrollers made

Technology,
developed

derived
by General

from

the

Harvard

by Microchip
PIC1650 originally

Instrument's

Microelectronics

Division. The name PIC initially referred to "Peripheral

Interface Controller".
PICs are popular with both industrial developers and
hobbyists alike due to their low cost, wide availability,
large user base, extensive collection of application notes,
availability of low cost or free development tools, and serial programming (and re-programming
with flash memory) capability.
Microchip announced on September 2011 the shipment of its ten billionth PIC processor.

Under 8bit comes: - PIC10XXXX, PIC12XXXX, PIC16XXXX, PIC18XXXX (12 bit

instruction set).

Under 16 bit comes: - PIC24H, DSPIC30, DSPIC33 (14bit instruction set).

Under 32 bit comes: - PIC32XXXX.
PICs are popular with developers and hobbyists alike due to their low cost, wide availability,
large user base, extensive collection of application notes, availability of low cost and free
development tools, and serial programming (and re-programming with flash memory)
capability.

Special Microcontroller Features:

I.

High-Performance RISC CPU

13

II.

Linear data memory addressing to 1536 bytes

III.

Linear program memory addressing to 32 kbytes

IV.

DC - 40 MHz clock input

V.

16-bit wide instructions, 8-bitwide data path

VI.

Priority levels for interrupts

VII.

8 x 8 Single-Cucle Hardware Multiplier

VIII.

Up to 10 MIPS operation

IX.

MHz-10

MHz

oscillator/clock

input

with

PLL

active

Peripheral Features
I.

High current sink/source 25 mA/25 mA

II.

Three external interrupt pins

III.

Two 16-bit timer/counter (TMR1, TMR3)

IV.

One 8-bit/16-bit timer/counter with prescaler

V.

One 8-bit timer/counter with 8-bit period register

VI.

Capture 16-bit, max. resolution 6.25 ns.(TCY/16)

VII.

Compare 16-bit, max. resolution 100 ns.

VIII.

Secondary oscillator clock option - Timer1/Timer3

IX.

I C Master and Slave mode

X.
XI.

1,2 or 4 PWM outputs

Selectable PWM polarity

XII.

3-wire SPI

XIII.

Supports

interrupt-on-address

Special Microcontroller Features

I.
II.

Power-On Reset (POR)

Power-up Timer (PWRT) and Oscillator Start-Up Timer (OST)

III.

Power-On Reset

IV.

Watchdog Timer (WDT) with its own On-Chip RC oscillator

V.

Programmable code protection

14

bit

VI.
VII.
VIII.
IX.

Power-saving SLEEP mode

4X Phase Lock Loop (of primary oscillator)
Secondary Oscillator (32kHz) clock input
In-Circuit Debug (ICD)

Advanced Analog Features

I.
II.

10-bit, up to 8-channel Analog-to-Digital Converter module (A/D)

Programmable input and output multiplexing

III.

Programmable Brown-out Reset(BOR)

IV.

Supports interrupt-on-Low-Voltage Detection

V.

Compiles with ISO CAN Conformance Test

VI.

Message bit rates up to 1 Mbps

VII.

8-byte message length

VIII.

29-bit Identifier Fields

IX.
X.
XI.
XII.

3 Transmit Message Buffers with prioritization

6 full, 29-bit Acceptance Filters
Advanced Error Management Features
Low-power, high-speed Enhanced Flash technology

XIII.

Fully static design

XIV.

Wide operating voltage range (2.0V to 5.5V)

XV.

Industrial and Extended temperature ranges

CMOS Technology:
I.
II.

Low power, high speed CMOS FLASH technology.

Fully Static Design.

III.

Wide operating voltage range: 2.0V to 5.5V

IV.

High Sink/Source Current: 25mA.

V.
VI.

Industrial Temperature Range.

Low power consumption (<2mA typical at 5V, 4MHz).
15

II.

PIN DIAGRAM

16

PIN Description

MCLR (Pin 1):PIC16F7X devices have noise filter in the MCLR reset path. The

I.

filter will detect and ignore small pulses. It should be noted that a WDT Reset does not
drive MCLR pin low. The behavior of the ESD protection on the MCLR pin has been
altered from previous devices of this family. Voltages applied to the pin that exceed its
specification can result in both MCLR Resets and excessive current beyond the device
specification during the ESD event. For this reason, Microchip recommends that the
MCLR pin no longer be tied directly to VDD.

RESET:The PIC16F7X differentiated between various kinds of RESET:

II.

Power-on Reset (POR)

MCLR Reset during normal operation
MCLR Reset during SLEEP
WDT Reset (during normal operation)
WDT Wake-up (during SLEEP)

Brown-out Reset (BOR)

Some registers are not affected in any RESET condition. Their status is unknown on
POR and unchanged on any other RESET. Most others registers are reset to a RESET
state on Power-on Reset (POR), on the MCLR and WDT Reset, on MCLR Reset during
SLEEP, and Brown-out Reset (BOR). They are not affected by a WDT Wake-up, which
is viewed as the resumption of normal operation. The TO and PD bits are set or cleared
differently in different RESET situations, as indicated.

III.

PORT A (pin 2 to 7) & TRISA Register: PORT-A is a 6-bit wide, bidirectional port. The corresponding data direction register is TRISA. Setting a TRISA bit
(= 1) will make the corresponding PORTA pin an input (i.e. put the corresponding
output driver in a Hi-Impedance mode). Clearing a TRISA bit (= 0) will make the
corresponding PORT-A pin an output (i.e. put contents of the output latch on the selected
17

pin). Reading the PORT-A register reads the status of the pins, whereas writing to it will
write to the port latch.
All write operations are read-modify-write operations. Therefore, a write to a port
implies that the port pins are read; the value is modified and then written to the port data
latch.

IV.

V.

VI.

GND (pin-8):Provide Ground to it.

OSC1/CLKIN (pin-9):Oscillator crystal input/external clock source input.

OSC2/CLKOUT (pin-10):Oscillator crystal output connects to crystal or

resonator in Crystal Oscillator mode. In RC mode, the OSC2 pin outputs CLKOUT
which has the frequency of OSC1, and denotes the instruction cycle rate.

Oscillator Types:
i.
ii.
iii.
iv.

VII.

Low Power (LP) crystal.

XT Crystal/Resonator
HS high speed crystal/resonator
RC Resistor/Capacitor

PORT-C and the TRISC Register (pin 15 18 and 23-26): PORT-C is an 8bit, bi-directional port. The corresponding data direction register is TRISC. Setting a
TRISC bit (= 1) will make the corresponding PORTC pin an input (i.e. put the
corresponding output driver in a Hi-Impedance mode). Clearing a TRISC bit (= 0) will
make the corresponding PORT pin an output (i.e. put the contents of the output latch on
selected pin). PORT-C is multiplexed with several peripheral functions PORT-C pins
have Schmitt Trigger input buffers. When enabling peripheral functions, care should be
taken in defining TRIS bits for each PORT-C pin.

VIII.

VSS (pin 12): Ground reference for logic and I/O pins.
18

IX.

X.

VDD (pin 11):Positive supply for logic and I/O pins.

PORT-B and the TRISB Register (pin 33-40): PORT-B is an 8-bit wide, bidirectional port. The corresponding data direction register is TRISB. Setting a TRISB bit
(= 1) will make the corresponding PORTB pin an input (i.e. put the corresponding out
driver in a Hi-Impedance mode). Clearing a TRISB bit (= 0) will make corresponding
PORTB pin an output (i.e. put the contents of the output latch on the selected pin).

Each of the PORT-B pins has a week internal pull-up. A single control bit can turn on the
pull-ups. The weak pull-up is automatically turned off when the port pin is configured as
an output. The pull ups are disabled on Power-on Reset.

III.

PIC MICROCONTROLLER

CORE ARTITECTURE
PIC is a family of modified Harvard architecture microcontrollers made by Microchip
Technology, derived from the PIC1650 originally developed by General Instrument's
Microelectronics Division. The name PIC initially referred to "Peripheral Interface
Controller".
PICs are popular with both industrial developers and hobbyists alike due to their low cost, wide
availability, large user base, extensive collection of application notes, availability of low cost or
free development tools, and serial programming (and re-programming with flash memory)
capability.
Microchip announced on September 2011 the shipment of its ten billionth PIC processor.

19

CORE ARCHITECTUR

20

Figure: Showing a typical microcontroller device and its different subunits.

The PIC architecture is distinctively minimalist. It is characterized by the following features:

i.

Separate code and data spaces (Harvard Architecture).

ii.

A small number of fixed length instructions.

iii.

Most instructions are single cycle execution (4 clock cycles), with a single delay cycles upon
branches and skips.

iv.

A single accumulator (W), the use of which (as source operand) is implied (i.e. is not encoded in
the opcode).

v.

All RAM locations functions are registers as both source and/or destination of math and other
functions.

vi.

A hardware stack for storing return addresses.

vii.

A fairly small amount of addressable data space (typically 256 bytes), extended through
banking.

viii.

Data space mapped CPU, port and peripheral registers.

21

ix.

The program counter is also mapped into the data space and writable (this is used to implement
indirect jumps).

Unlike most other CPUs there is no distinction between memory space and register space
because the RAM serves the job of both memory and registers, and the RAM is usually just
referred to as the register file or simply as the registers.

Advantages
The PIC architectures have these advantages:
I.
II.

instruction set to learn

RISC architecture

III.

Built in oscillator with selectable speeds

IV.

Easy entry level, in circuit programming plus in circuit debugging pic kit units available
from Microchip.com for less than $50

V.

Inexpensive microcontrollers

VI.

Wide range of interfaces including PC, SPI, USB, USART, a/d, programmable
comparators, PWM, can Small, PSP, and Ethernet.

22

Limitations
The PIC architectures have these limitations:
I.

One accumulator.

II.

Register-bank switching is required to access the entire RAM of many devices

III.

Operations and registers are not orthognal; some instructions can address RAM
and/or immediate constants, while others can only use the accumulato

IV.

PROGRAMMING OF PIC

Compiler Used: - MikroC PRO

Introduction to mikroC:mikroC is a powerful, feature rich development tool for PIC micros.
It is designed to provide the programmer with the easiest possible solution for developing
applications for embedded systems, without compromising performance or control.

23

MikroC IDE: PIC and C fit together well; PIC is the most popular 8-bit chip in the world,
used in a wide variety of applications and C prized for its efficiency, is the natural choice for
developing embedded systems. MikroC provides a successful match featuring highly advanced
IDE, ANSI compliant compiler, broad set of hardware libraries, comprehensive documentation,
and plenty of ready-to-run examples.

Features:mikroC allows you to quickly develop and deploy complex applications:

i.

Write your C source code using the built-in Code Editor (Code and Parameter Assistants, Syntax
Highlighting, Auto Correct, Code Templates and more)

ii.

Use the included mikroC libraries to dramatically speed up the development: data acquisition,
memory, displays, conversions, communications practically all P12, P16 and P18 chips are
supported.

iii.

Monitor your program structure, variables and functions in the code explorer.

24

iv.

Generate commented, human-readable assembly, and standard HEX compatible with all
programmers.

v.
vi.

Inspect program flow and debug executable logic with the integrated debugger.
Get detailed reports and graphs: RAM and ROM map, code statistics, assembly listing, calling
tree and more.

vii.

We have provided plenty of examples for you to expand, develop and use as building bricks in
your projects. Copy them entirely if you deem fit thats why we included them with the
compiler.

Projects:mikroC organizes applications into projects, consisting of a single project file

(extension .ppc) and one or more source files (extension .c). You can compile source files only if
they are part of a project.

The Project file carries the following information:

i.

Project name and optional description.

ii.

Target device

iii.

Device flags (config word).

iv.

Device Clock.

25

New Project:T he easiest way to create project is by means of New Project Wizard, dropdown menu Project > New Project. Just fill the dialog with desired values (project name and
description, location, device, clock, config word) and mikroC will create the appropriate project
file. Also the empty source file named after the project will be created by default. MikroC does
not require you to have source file named same as the project, its just a matter of convenience.

Edit Project: Later, you can change project settings from the drop down menu Project > Edit
Project. You can rename the project; modify its description, change chip, clock, config word,
etc.
Also mikroC has some pre-defined functions:
Commonly used is:

delay_ms(time): It provides a delay of specified time in ms.

Its internal code is similar to code given below:
voiddelay_ms(time) {
while(time !=0)
{
time--;
26

V.

PROGRAMMING AND INTERFACING

Advantages of mikroC over Assemble Language programming:

I.
II.

Knowledge of the processor instruction set is not required.

Details like register allocation and addressing of memory and data is managed by the compiler.

III.

Programs get a formal structure and can be divided into separate functions.

IV.

Programming and program test time is drastically reduced, this increases efficiency.

V.

Keywords and operational functions can be used that come closer to how humans think.
27

VI.

The supplied and supported C libraries contain many standard routines such as numeric
conversions.

VII.

Reusable code: Existing program parts can be more easily included into new programs, because
of the comfortable modular program construction.

VIII.

The C language based on the ANSI standard is very portable. Existing programs can be quickly
adapted to other processors as needed.

I: LED interfacing and its blinking (PORT Programming).

28

The interfacing of LEDs shown in the figure above. It is given VCC through resistors of 330E,
also a darlington pair IC is also used i.e. ULN 2803 which shift the DC level of voltage coming
from the port PIC microcontroller.
Now to glow the desired LED, proper hexadecimal code for its binary is programmed in PIC.
E.g.: To glow alternative LEDs, the binary given code will be 10101010 and its corresponding
hexadecimal code will be 0xAA. So 0xAA is fed to controller with coding.
Also PIC has an internal TRIS register which controls the flow of instructions from the
corresponding port i.e. PORT will behave as input (if =1) and as output (if=0).

CODE FOR BLINKING:

void main()
{
TRISC = 0x00;

//Configure PORTC as output

PORTC = 0x00;

//initialize PORTC

while(1)
{
PORTC = 0xAA;

//gives code 10101010 to PORT-C

delay_ms(1000);

//one second delay

}
}
Thus LED blinking practical is done successfully

II: Seven Segment interfacing and display.

29

A Seven segment display consists of seven LEDs arranged in a pattern of digit like 8.

We use BCD to seven segment decoder which saves a pin of microcontroller from seven (one
for each LED) to four. So we have to give BCD code for desired digit to be displayed on it. Now
also we can display more than one seven segment display simultaneously but it will take a
number of pins of controller, so we use two pins from controller to control the display of seven
segment display one by one from port such that it appears to be displaying simultaneously. This
is done by providing a very small delay such that our eyes cant even detect the change over
from one display to another.

Coding for Display:

void main()
{
inti,j;
unsigned chararr[10]={0x3f,0x06,0x5b,0x4f,0x66 ,
x6d,0x7d,0x07,0x7f,0x6f};
while(1)
{
trisb=0x00;
trisc=0x00;
for(i=0;i<=9;i++)
30

{ portc=arr[i];
for(j=0;j<=9;j++)
{
portb=arr[j];
delay_ms(100);
}
}
}
}
Or
void main() {
inti;
unsigned char arr[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};
while(1)
{
trisb=0x00;
for(i=0;i<=9;i++)
{
portb=arr[i];
delay_ms(300);
}
}
}

31

III: Interfacing and Control of Stepper Motor with PIC18F458.

Stepper motor is that which rotates in steps like all motors it is also based on electromagnetic
induction i.e. electric field produces a magnetic field whose variation causes a torque which
rotates the motor.
32

A Stepper motor is brushless, synchronous electric motor that can divide a full rotation into
large number of steps. The motors position can be controlled precisely, without any feedback
mechanism. Stepper motors are similar to switched reluctance motors, which are very large
stepping motors with a reduced pole count and generally are closed loop commutated.

Fundamentals of Operation: Stepper motors operate much differently from normal DC motors,
which rotate when voltage is applied to their terminals. Stepper motors, on the other hand,
effectively have multiple toothed electromagnets (a.k.a. phases) arranged around a central
gear-shaped piece of iron. The electromagnets are energized by an external control circuit, such
as microcontroller. To make the motor shaft turn, first 1 electromagnet is given power, which
makes the gears teeth magnetically attracted to the electromagets teeth.

When the gears teeth are thus aligned to the first electromagnet, they are slightly offset from the
next electromagnet. So when the next electromagnet is turned on and the first is turned off, the
gear rotates slightly to align with the next one, and from the process is repeated. Each of those
slight rotations is called a step. In that way, the motor can be turned a precise angle. Now to
run the motor we have to feed the binary code to turn on the current of that winding.
33

For pair 1st 0b00000011 0x03

For pair 2nd 0b00000110 0x06
For pair 3rd 0b00001100 0x0c
For pair 4th 0b00011000 0x09

MikroC code:
#define sw1 portb.rb3
#define sw2 portb.rb4
#define sw3 portb.rb5
#define sw4 portb.rb6
#define sw5 portb.rb7
void main()
{
while(1)
{
trisb=0xff;
trisc=0x00;
sw1=sw2=sw3=sw4=sw5=0;
if(sw1==1)
{
portc=0x0a;

//move forward

}
34

else if(sw2==1)
{
portc=0x05;

//move backward

}
else if(sw3==1)
{
portc=0x08;

//move left

}
else if (sw4==1)
{
portc=0x02;

//move right

}
else if(sw5==1)
{
portc=0x00;

//stop

}
else
{
portc=0x00;
}
}
}
The above code will rotate the motor first in forward direction and then in reverse direction.
The stepper motor has been studied successfully.

35

IV: LCD interfacing with PIC18F73.

LCD Stands for Liquid Crystalline

Display. To run it via PIC18F73, we
need

command

signals

and

supply

voltage. The signal that is required to

display character is produced by an IC
which is already embedded on it which is
HD44780.
PIN Description of the LCD is provided
below in the table:

36

LCD PIC DESCRIPTION

Probably this very post should have come before the number of other posts related to 8051 LCD
interfacing, but its never too late. This post will describe you about the pins of LCD normally
available in the market. It looks almost like the one shown below. As you guys can see that there
are 8 data pins along with 3 control pins. One ground and two power pins are also there. Lets
study about these pins of LCD

VSS, VDD and VEE

Pin 1 (VSS) is a ground pin and it is certainly needed that this pin should be grounded for LCD
to work properly. VEE and VDD are given +5 vlots normally. However VEE may have a
37

Pin
No
1
2
3

Function

Name

Ground (0V)
Supply voltage; 5V (4.7V 5.3V)
Contrast adjustment; through a

Ground
Vcc
VEE

variable resistor
Selects command register when

Register Select

low; and data register when high

Low to write to the register; High

Read/write

to read from the register

Sends data to data pins when a

Enable

high to low pulse is given

7
8
9
10
11
12
13
14
15
16

8-bit data pins

Backlight VCC (5V)

Backlight Ground (0V)

DB0
DB1
DB2
DB3
DB4
DB5
DB6
DB7
Led+
Led-

potentiometer voltage divider network to get the contrast adjusted. But VDD is always at +5V.
RS, R/W and E
These three pins are numbered 4, 5 and 6 as shown above. RS is used to make the selection
between data and command register. For RS=0, command register is selected and for RS=1 data
register is selected.
R/W gives you the choice between writing and reading. If set (R/W=1) reading is enabled.
R/W=0 when writing.

38

Enable pins is used by the LCD to latch information presented to its data pins. When data is
supplied to data pins, a high to low pulse must be applied to this pin in-order for the LCD to
latch in the data present at the data pins. It maybe noted here that the pulse must be of minimum
450ns wide.

D0-D7
The 8-bit data pins, D0-D7, are used to send information to the LCD or read the contents of
LCD's internal register.
The following paragraph is taken and included from "Muhammad Ali Mazidi",
"To display letters and numbers, we send ASCII code for the letters A-Z, a-z and numbers 0-9
while making RS=1. We also use RS=0 to check the busy flag bit to see if the LCD is ready to
receive information. The busy flag is D-7 and can be read when R/W=1 and RS=0, as follows: if
R/W=1, RS=0. When D7=1 (busy flag=1), the LCD is busy taking care of internal operations
and will not accept any new information. When D7=0, the LCD is ready to receive new
information. It is recommended to check the busy flag before writing any data to LCD"

MikroC Code:
void main()
{
TRISB = 0x00;

//Set PORTB as Output

LCD_Init(&PORTB);

//Initialize LCD connected to PORTB

LCD_CMD(LCD_CLEAR);

//Clear Display

LCD_CMD(LCD_CURSOR_OFF); //Turn Cursor off

LCD_OUT(1, 5, Hello);

//Print Hello to LCD, 1st ROW, 5th Column

39

The above code will display Hello on LCD.

The functions like LCD_INIT(), LCD_CMD(), LCD_OUT() are predefined functions in
MikroC which initialize, gives command and display results on LCD respectively. It is also
possible to scroll characters on LCD and also you can put custom characters on LCD.

MikroC Code for Scrolling:

char *text = HELLO;
char *text1 = ECE;
void main()
{
TRISB = 0x00;
LCD_INIT(&PORTB);
LCD_CMD(LCD_CLEAR);
LCD_CMD(LCD_CURSOR_OFF);
LCD_OUT(1, 1, text);
LCD_OUT(2, 1, text1);
while(1)
{
LCD_CMD(LCD_SHIFT_RIGHT);
delay_ms(1000);
}
}It will shift the character to right with a delay of 1 second between it. Thus LCD Display
studied successfull

40

V: Built In ADC of PIC16F73 (Temperature Monitoring):

PIC16F73 consists of 5 ADC. These are externally connected to microcontroller AT89S51
which dont have inbuilt ADC. Now PIC16XXX has got the feature of inbuilt ADC so there is
no need to connect externally. PIC16XXX is feature with 8 bit ADC so we can convert an
analog value to 8 bit binary or from 0 to 255 in decimal range. 8 bit analog-to-digital converter
module has five inputs for the PIC16F73/76 and 8 for PIC16F74/77.
The A/D allows conversion of an analog input signal to a corresponding 8-bit digital number.
The output of sample and hold is the input to the converter, which generates the result via
successive approximation, the analog reference voltage is software selectable to either the
devices positive supply voltage (VDD), or the v/g level on the RA3/AN3/VREF pin.
The A/D converter has a unique feature of being able to operate while the device is in SLEEP
mode. To operate in SLEEP, the A/D conversion clock must be derived from the A/D internal
RC oscillator. The A/D module has three registers. These registers are:
i.

A/D Result Register (ADRES)

ii.

A/D Control Register 0 (ADCON0)

iii.

A/D Control Register 1 (ADCON1)

The ADCON0 register, shown in Register11-1, controls the operation of A/D module. The
ADCON1 register, shown in register 11-2, configures the functions of the port pins. The port
pins can be configured as analog inputs (RA3 can also be a voltage reference), or as digital I/O.

41

ADCON0 Register

ADCON0 Register PIC 16F877A

ADCS1 and ADCS2 are used to select A/D Conversion Clock. It should be selected in
accordance with device clock.
CH2, CH1 and CH0 are used to select one of the analog input channel out of eight channels.
GO/DONE is the A/D Conversion Status bit. Setting this bit initializes A/D Conversion and will
be automatically cleared when the conversion is complete.
ADON is used to switch on/off the ADC Module. When it is 1, the ADC Module turns ON and
when it is 0, the ADC Module will be OFF.
ADCON1 Register

42

ADCON1 Register PIC 16F877A

ADFM is the ADC Result Format select bit. Two 8 bit register (ADRESH and ADRESL) are
provided to store the 10-bit result of A/D Conversion, thus we needt use 6 bits. When ADFM is
1, the result will be right justified, ie Most Significant Bits of ADRESH will be read as 0. When
ADFM is 0, the result will be left justified, ie Least Significant Bits of ADRESL will be read as
zero.
ADCS2 is used to select A/D Conversion Clock in association with ADCS1 and ADC2 of
ADCON0 register.
PCFG3 PCFG0 are the A/D Port Configuration Control bits. Each pin amoung AN0 AN7 is
configured as analog, digital or reference voltage inputs according to the status of these
configuration bits as given below

MikroC Code for Temp. Sensor:

voidascii(unsigned int digit);
unsigned char table [] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
void main()
{
PORTB = 0x00;
unsignedint e, f;
LCD_INIT(&PORTB);
LCD_CMD(LCD_CLEAR);
LCD_CMD(LCD_CURSOR_OFF);
LCD_OUT(1, 1, Sensor Temp=);
ADCON0 = 0x45;
ADCON1 = 0x01;
TRISA = 0xFF;
while(1)
43

{
e = ADC_READ(1);
ascii(e);
delay_ms(1000);
}
}
voidascii (unsigned int digit)
{
unsigned char temp;
if(digit<100)
{
temp=digit/10;
LCD_CHR(1, 1, table[temp]);
temp = digit temp*10;
LCD_CHR(1, 2, table[temp]);
}
}

VI: To study the switching actions of PIC pins.

As in AT89S51, the way of addressing pins is by p0.0, p0.1. so on. Similarly in PIC it is
possible to address pins using syntax:
44

PORT(NAME).F(0-7)
Now pin can be put ON or OFF according to user by the above addressing in the program of
PIC. Internally when the pin is high its flip flop is set. When external switch is closed, it forces
no current or voltage to enter to pin and also lowers the pin from 1 to 0. Thus when the switch is
pressed, the pin becomes zero. The switches whose one end is connected to pins of controlled
are shown below:

MikroC Code is as follows:

#define S0 PORTC.F0
#define S1 PORTC.F1
#define S2 PORTC.F2
#define S3 PORTC.F3
#define S4 PORTC.F4
#define rs porte.re0
45

#define rw porte.re1
#define en porte.re2
#define sw1 portb.rb3
#define sw2 portb.rb4
#define sw3 portb.rb5
#define sw4 portb.rb6
unsigned char arr1[5]={0x06,0x80,0x01,0x38,0x0e};
unsigned char arr2[8]={"forward"};
unsigned char arr3[9]={"backward"};
unsigned char arr4[5]={"left"};
unsigned char arr5[6]={"right"};
unsigned char arr6[5]={"stop"};
void command()
{

rs=rw=0;

en=0;
delay_ms(100);
en=1;
}
void display()
{
rs=1;
rw=0;
en=1;
delay_ms(100);
en=0;
}
void main()
{
inti;
while(1)
{
46

trisb=0xf8;
trisc=trisd=0x00;
trise=0x00;
adcon1=0x07;
sw1=sw2=sw3=sw4=0;
for(i=0;i<=4;i++)
{

portd=arr1[i];

command();
}
if(sw1==1)
{
portc=0x0a;

//move forward

for(i=0;i<=7;i++)
{

portd=arr2[i];

display();
}
}
else if(sw2==1)
{
portc=0x05;

//move backward

for(i=0;i<=8;i++)
{

portd=arr3[i];

display();
}
}
else if(sw3==1)
{
portc=0x08;

//move left

for(i=0;i<=4;i++)
{

portd=arr4[i];

display();
47

}
}
else if (sw4==1)
{
portc=0x02;

//move right

for(i=0;i<=4;i++)
{

portd=arr5[i];

display();
}
}
else
{
portc=0x00;

//stop

for(i=0;i<=10;i++)
{

portd=arr6[i];

display();
}
}
}

VII: Interfacing Keyboard Matrix

As in last practical, we use one switch per pin of controller, so to use 8 pins for 8 switches.
While if it is desired to have more options for a pin, a matrix is formed in which row and
column are made such that each pin can control more than one switch or vice versa.
48

H/w connections are:

The coding for keyboard (4*4) matrix is as follows:

#define R1 PORTB.F0
#define R2 PORTB.F1
#define R3 PORTB.F2
#define R4 PORTB.F3
#define C1 PORTB.F4
#define C2 PORTB.F5
#define C3 PORTB.F6
#define C4 PORTB.F7
void main()
{
TRISB=0XFF;
TRISC=0X00;
PORTC=0X00;
PORTB=0XFF;
while(1)
{
49

if(R1==0 && C1==0)

{
PORTC=1;
}
if(R1==0 && C2==0)
{
PORTC=2;
}
if(R1==0 && C3==0)
{
PORTC=3;
}
if(R1==0 && C4==0)
{
PORTC=4;
}
if(R2==0 && C1==0)
{
PORTC=5;
}
if(R2==0 && C2==0)
{
PORTC=6;
}
if(R2==0 && C3==0)
{
PORTC=7;
}
if(R2==0 && C4==0)
{
PORTC=8;
50

}
if(R3==0 && C1==0)
{
PORTC=9;
}
if(R3==0 && C2==0)
{
PORTC=10;
}
if(R3==0 && C3==0)
{
PORTC=11;
}
if(R3==0 && C4==0)
{
PORTC=12;
}
if(R4==0 && C1==0)
{
PORTC=13;
}
if(R4==0 && C2==0)
{
PORTC=14;
}
if(R4==0 && C3==0)
{
PORTC=15;
}
if(R4==0 && C4==0)
{
51

PORTC=16;
}
}
}
Thus, the keyboard matrix practical is performed.

VIII: Serial Communication B/W PC and Microcontroller

To send data via single line through a bit stream is known as serial communication. Reception is
of type SIPO-Serial Input Parallel Output. Transmission is of type PISO-Parallel Input Serial
Output. Clock used in serial communication is called BAUD RATE.PIC has two buffers and it
52

allows full duplex communication. To change settings we have to re configure TXSTA register.
The Universal Synchronous Asynchronous Receiver Transmitter (USART) module is one of the
two serial I/O modules. (USART is also known as a Serial Communications Interface or SCI.)
The USART can be configured. as a full duplex asynchronous system that can communicate
with peripheral devices, such as CRT terminals and personal computers, or it can be configured
as a half-duplex synchronous system that can communicate with peripheral devices, such as A/D
or D/A integrated circuits, serial EEPROMs, etc.

The USART can be configured in the following modes:

i.

Asynchronous (full duplex)

ii.

Synchronous - Master (half duplex)

iii.

Synchronous - Slave (half duplex)

53

Bit SPEN (RCSTA<7>) and bits TRISC<7:6> have to be set in order to configure pins
RC6/TX/CK and RC7/RX/DT as the Universal Synchronous Asynchronous Receiver
Transmitter.

TXSTA: TRANSMIT STATUS AND CONTROL REGISTER (ADDRESS 98h)

TXSTA Register Role: (Transmit Status and Control Register)
It is an 8-bit register.

Bit7:

CSRC Clock Source Select (not used in asynchronous mode, so D7 = 0)

Bit6:

TX9 9-bit Transmit Enable

1 Select 9-bit transmission

0 - Select 8-bit transmission (we use this option, so D6 = 0)
Bit5:

TXEN Transmit Enable

1 Transmit enabled
0 - Transmit Disabled
Bit4:

SYNC USART mode select

1 Synchronous mode
0 - Asynchronous mode (we use this mode, so D4 = 0)
Bit2:

BRGH High Baud Rate select

54

0 Low Speed (Default)

1 High Speed
Bit1:

TRMT Transmit Shift Register (TSR) status

1 TSR empty
0 TSR full
Bit0:

TXD9 9th bit of transmit data (we use 8-bit option, so D0 = 0)

MikroC UART terminal work as shown below:

55

Now coding
I.

To transmitdata from pc
unsigned char arr[]="cetpainfotech"
void main() {
while(1)
{
inti;
spbrg=0x0f;
rcsta.SPEN=1;
txsta.txen=1;
while(pir1.TXIF==0);
for(i=0;i<=26;i++)
{
txreg=arr[i];
}

II.

}To read data from pc:

#define rs portc.rc0
#define rw portc.rc1
#define en portc.rc2
unsigned char arr[5]={0x38,0x0e,0x01,0x80,0x06};
void command();
void display();
void main()
{
inti;
56

trisb=0x00;
trisc=0xf0;
for(i=0;i<=4;i++)
{
portb=arr[i];
command();
}
while(1)
{
spbrg=15;
rcsta=0x90;
while(pir1.rcif==0);
portb=rcreg;
display();
}
}
void command()
{
rs=rw=0;
en=1;
delay_ms(100);
en=0;
}
void display()
{
rs=1;
rw=0;
en=1;
delay_ms(100);
57

en=0;
}
Thus serial communication has been studied successfully.

PCB DESIGNING AND SIMULATION TOOL

OrCAD:
OrCAD is a powerful tool for designing a PCB (Printed Circuit Board). As in todays world, the
PCBs are used everywhere in electronics industries for the manufactures of the products.
Various equipment we use in our daily life contains PCBs such as Cell Phones, Computers,
Chargers, and Digital Watches etc. all these contains various forms of PCBs and components
applied on them which make them work according to our needs. These PCBs can be designed
using various tools and OrCAD is one of them. However OrCAD uses two major tools to do
this, Capture CIS and Layout Plus.

OrCAD Capture CIS:Capture CIS tool in the OrCAD is programmed to design the
schematics of a circuit. i.e. using this tool, we can design the circuit diagram of any circuit and
select various components we want to apply in that circuit. Capture CIS contains all the
components (Active and Passive) that we need to make a circuit. A circuit designed in Capture
CIS is shown below:

58

OrCAD Layout Plus: In Capture CIS, we can only make the circuit diagram of the circuit we
want to create PCB of. Here is the 2 nd major tool of OrCAD which we use to create PCB design.
Layout Plus imports the files from capture CIS and design the circuit accordingly. The file it
imports is a NETLIST file which contains the information of the nets (wires) and components
attached to them. With the help of information contained in the NETLIST file, layout plus
creates the components footprints and hence it forms the PCB design. A PCB designed in layout
plus is shown as below:

59

TINA Pro:
60

TINA Pro is a software which we can use to test the circuit diagram or the circuit we created.
This is a very useful tool in case of industries. We can test the working of circuit, take its DC
analysis, AC analysis, Transient Responses, Step Responses and Transient Single Shot
Responses etc.
TINA pro also offers us the various measure tools i.e. voltmeter, ampere meter, galvanometer,
multi-meter, oscilloscope etc. using these tools, we can view the voltage, current and other
respective values in the circuit. This will save the cost of the industry which may employ when a
circuit is burnt or damaged. We can test the working of the circuit, simulate it and then make
the final PCB of the circuit without any error. Also the reduction of errors are there in TINA pro.
The simple circuit simulated in TINA pro is shown in the fig. below:

61

REFERENCE
Online Sources:
Google

http://encrypted.google.com

Wikipedia

http://www.wikipedia.com

Engineer garage

http://www.engineergarage.com

How Stuff Works http://www.howstuffworks.com

Offline Sources:
MicroC Manuals
TINA Pro Help
PIC Datasheets
PIC Microcontrollers for Beginners
62

The Art of Electronics by Paul Horowitz & Winfield Hill

PIC Microcontroller & Embedded System by Muhammad Ali Mazidi

63