EmbeddedComputingandMechatronics
withthePIC32Microcontroller
KevinLynchNorthwesternUniversity,USA
NicholasMarchukNorthwesternUniversity,USA
MatthewElwinNorthwesternUniversity,USA
AnintroductiontoMicrochip’sPIC32microcontrolleranditsuseinembedded
computingandmechatronics
KEYFEATURES
• Extensive,freelydownloadablesamplecodefortheNU32developmentboard
ISBN:978-0-12-420165-1
incorporatingthePIC32MX795F512Hmicrocontroller
PUBINFO:Elsevier/Newnes,
• Freeonlineinstructionalvideostosupportmanyofthechapters
December2015
LISTPRICE:$69.95
DESCRIPTION
FORMAT:Paperback
For the first time in a single reference, this book provides the beginner with a
PAGES:c.625
coherent and logical introduction to the hardware and software of the PIC32,
TRIM:7.5wx9.25h
bringing together key material from the PIC32 Reference Manual, Data Sheets,
AUDIENCE:
Universitycourses,students, XC32CCompilerUser'sGuide,AssemblerandLinkerGuide,MIPS32CPUmanuals,
professionalsandhobbyists and Harmony documentation. This book also trains you to use the Microchip
documentation,allowingbetterlife-longlearningofthePIC32.Thephilosophyis
TABLEOFCONTENTS
togetyoustartedquickly,buttoemphasizefundamentalsandtoeliminate"magic
Part1:Quickstart
01 Quickstart
steps"thatpreventadeepunderstandingofhowthesoftwareyouwriteconnects
Part2:Fundamentals
tothehardware.
02 Hardware
03 Software
Applicationsfocusonmechatronics:microcontroller-controlledelectromechanical
04 UsingLibraries
systems incorporating sensors and actuators. To support a learn-by-doing
05 TimeandSpace
06 Interrupts
approach, you can follow the examples throughout the book using the sample
Part3:PeripheralReference
FourteenchaptersondigitalI/O,
codeandyourPIC32developmentboard.Theexercisesattheendofeachchapter
counter/timers,outputcompare,
helpyouputyournewskillstopractice.
analoginput,inputcapture,watchdog
timer,comparator,flashmemory,the Thematerialinthisbookhasbeentestedandrefinedoverseveralyearsofuseas
MicrochipHarmonyframework,and
theprimaryreferenceforthemechatronicssequenceatNorthwesternUniversity.
communicationsuchasUART,SPI,
I2C,CAN,USB,andparallelcomm
Part4:Mechatronics
21 Sensors
22 DigitalSignalProcessing
23 PIDFeedbackControl
24 FeedbackControlofLED
Brightness
25 BrushedPermanentMagnet
DCMotors
26 GearingandMotorSizing
27 DCMotorControl
28 AMotorControlProject
29 OtherActuators
Part5:Appendices
A. ACrashCourseinC
B. CircuitsReview
C. OtherPIC32Models
Coverageincludes:
•
•
•
•
•
•
•
ApracticalintroductiontotheCprogramminglanguage
GettingupandrunningquicklywiththePIC32
AnexplorationofthehardwarearchitectureofthePIC32anddifferencesbetweenPIC32
families
FundamentalsofembeddedcomputingwiththePIC32,includingthebuildprocess,time-and
memory-efficientprogramming,andinterrupts
Aperipheralreference,withextensivesamplecodecoveringdigitalinputandoutput,
counter/timers,PWM,analoginput,inputcapture,watchdogtimer,andcommunicationby
theparallelmasterport,SPI,I2C,CAN,USB,andUART
AnintroductiontotheMicrochipHarmonyprogrammingframework
Essentialtopicsinmechatronics,includinginterfacingsensorstothePIC32,digitalsignal
processing,theoryofoperationandcontrolofbrushedDCmotors,motorsizingandgearing,
andotheractuatorssuchassteppermotors,RCservos,andbrushlessDCmotors
Visithttp://nu32.orgforsamplecode,accompanyingonlinevideos,andorderinginformation
TheNU32PIC32MX795F512HDevelopmentBoard
Thecompanionboardforthebook
EmbeddedComputingandMechatronicswiththePIC32Microcontroller
KevinM.Lynch,NicholasMarchuk,andMatthewL.Elwin
Newnes/Elsevier,December2015
TheNU32
TheNU32isaninexpensive60-pinDIP-compatibledevelopment
board for the 64-pin surface mount PIC32MX795F512H. Its
primary purpose is to break out the pins of the PIC32. It also
includes an FTDI FT231X USB-to-UART chip that allows simple
serial port communication over a USB cable with a program
running on the host computer (e.g., a terminal emulator,
MATLAB, Python, etc.). The board can be powered standalone
bytheincluded6Vwalladapterorbythehost’sUSBport.An
onboardbootloaderallowsprogrammingthePIC32usingonlya
USBcable,withoutanexternalprogrammerdevice.Anonboard
clockclockstheCPUat80MHz.
Features
• 80MHzMIPS32M4K32-bitCPU
• 512KBflashand128KBRAM
• ManydigitalI/Oandchangenotificationpins
• Five16-bitcounter/timers
• FivePWMand5inputcapturechannels
• 1MHz10-bitanaloginput(multiplexedto16inputs)
• SixUART,2CAN,3SPI,4I2C,1PMP,1USB,and1Ethernet
modules
• TwoLEDsandonepushbuttonavailableforuserprograms
• 3.3Vand5Vregulatedvoltageoutputs
• Mini-BUSBjacktoconnecttothehost
• Micro-BUSBjackforUSBwithanotherdevice
What’sintheBox
• TheNU32developmentboard,withsolderedheaderpins
• A solderless prototyping breadboard into which the NU32
canbeinserted
• AUSBcableforprogrammingandcommunicationwiththe
host
• A6Vwallpowersupply
SampleCode
Extensive freely downloadable and easily modified C sample
code demonstrates mostof the majorfunctions of thePIC32,
includinguseoftheperipheralsandspecialfeaturesoftheCPU
andtheXC32Ccompiler,suchasinterruptsandcodetimeand
spaceefficiency.
SampleBookChapters
FreelydownloadablebookchaptersallowtheNU32usertoget
started quickly with the NU32, without purchasing the book.
Thefreebookchaptersalsoincludeanextensiveintroduction
toprogrammingintheClanguage,acircuitsreview(usefulfor
interfacing the PIC32 with sensors and actuators), and a
descriptionofthetheoryofDCmotors.
OnlineVideos
The online videos demonstrate many of the features of the
NU32 (and the PIC32 generally), as well as its application in
mechatronics projects involving sensors and actuators. The
videosalsofacilitateflippingatraditionalclassroom.
Visithttp://nu32.orgforsamplecode,accompanyingonlinevideos,andorderinginformation