1. Fundamental of Robotics
MicroProcessor (µPD)
and MicroController
Mr.Krit Kongsrima
Program of Computer Science, Computer Education and Information Technology.
Faculty of Science and Technology, Rajabhat University Nakhonratchasima.

2. Structure – Top Level Computer Central Main Processing Memory Unit
Input
Output
Systems
Interconnection
Central
Processing
Unit
Computer

3. What is
Processor
Micro Processor
Micro Controller
How Different ?

4. Structure – CPU Level Arithmetic Computer and Registers Logic Unit
Control
Unit
Internal CPU
Interconnection
Registers
CPU
I/O
Memory
System
Bus

5. Structure – Control Level
CPU
Control
Memory
Control Unit
Registers and
Decoders
Sequencing
Login
Unit
ALU
Registers
Internal
Bus

6. Computer Component

7. Structure of von Neumann machine

8. Synchronous Timing Diagram

9. Asynchronous Timing – Read Diagram

10. Asynchronous Timing – Write Diagram

11. Memory Cell Operation

12. Typical 16 Mb DRAM (4M x 4)

13. Packaging

14. Generic Model of I/O Module

15. External Device Block Diagram

16. I/O Module Diagram

17. Input Output Techniques
Programmed
Interrupt driven
Memory Mapped I/O
Direct Memory Access (DMA)

18. Microcontroller Simulator Version 5

19. Peripherals

20. Memory

21. Binary , Decimal , Hexadecimal
0000
0001 1
0010 2
0011 3
0100 4
0101 5
0110 6
0111 7
1000 8
1001 9
1010 10 A
1011 11 B
1100 12 C
1101 13 D
1110 14 E
1111 15 F

22. Sample Program of Assembly Lang.
; ===== CONTROL THE TRAFFIC LIGHTS =============================
CLO ; Close unwanted windows.
Start:
; Turn off all the traffic lights.
MOV AL,0 ; Copy into the AL register.
OUT 01 ; Send AL to Port One (The traffic lights).
; Turn on all the traffic lights.
MOV AL,FC ; Copy into the AL register.
JMP Start ; Jump back to the start.
END ; Program ends.
; ===== Program Ends ==========================================
YOUR TASK
=========
Use the help page on Hexadecimal and ASCII codes.
Work out what hexadecimal numbers will activate the
correct traffic lights. Modify the program to step
the lights through a realistic sequence.

23. Output of Program

24. Assembly Language Concept
Label
Mneumonic
Operator
Operand
RAM
Comment

25. Assembly Language Concept
; ===== CONTROL THE TRAFFIC LIGHTS =============================
CLO ; Close unwanted windows.
Start:
; Turn off all the traffic lights.
MOV AL,0 ; Copy into the AL register.
OUT 01 ; Send AL to Port One (The traffic lights).
; Turn on all the traffic lights.
MOV AL,FC ; Copy into the AL register.
JMP Start ; Jump back to the start.
END ; Program ends.
; ===== Program Ends ==========================================
YOUR TASK
=========
Use the help page on Hexadecimal and ASCII codes.
Work out what hexadecimal numbers will activate the
correct traffic lights. Modify the program to step
the lights through a realistic sequence.

26. Assembly Language Concept
Register AL,BL,CL,DL
Instruction Set
- Clear
- Mov
- In/Out
- Jump
- DB
- Increment and Decrement
- End

27. Assembly Language Concept
- Clear
clo
- Mov
mov operand1,operand2
mov [operand1],operand2
- In/Out
in operand1,port_number
out port_number

28. Assembly Language Concept
- Jump
jmp label
jnz label
jz label
- DB
db data
- Increment and Decrement
inc operand
dec operand

29. Microcontroller Simulator Version 5
VDU (Video Displays Unit)
Memory #C0 - #FF
Use MOV

30. Microcontroller Simulator Version 5
Traffic Lights
Port #01
Use OUT

31. Microcontroller Simulator Version 5
Seven Segment Displays
Port #02
Use OUT

32. Microcontroller Simulator Version 5
Heater and Thermostat
Port #03
USE IN/OUT

33. Microcontroller Simulator Version 5
Snake and Maze
Port #04
Use OUT

34. Microcontroller Simulator Version 5
Stepper Motor
Port #05
Use OUT

35. Microcontroller Simulator Version 5
Lift
Port #06
Use IN/OUT

36. Microcontroller Simulator Version 5
Keyboard
Port #07
Use IN/Interrupt

37. Microcontroller Simulator Version 5
Key Pad
Port #08
Use IN/Interrrupt

38. Micro Processor

39. Micro Processor
Z80
8051
68HC00
Pentium4
Athlon
etc.

40. Micro Processor Mos Technology 6502 Intel 4004 First µP - 2300 xtors
L=10µm
Mos Technology 6502

41. Micro Processor Pentium® III 28M transistors / 733MHz-1Gz / 13-26W
PowerPC 7400 (G4) 6.5M transistors / 450MHz / 8-10W
L=0.15µm
Pentium® III 28M transistors / 733MHz-1Gz / 13-26W
L=0.25µm shrunk to L=0.18µm

42. Micro Processor Pentium® 4 42M transistors / 1.3-1.8GHz / 49-55W
L=0.18µm
Pentium® 4 “Northwood” 55M transistors / 2-2.5GHz
L=0.13µm

43. Micro Processor

44. Z80

45. Z80

47. Z80

48. Z80

49. Z80

50. Z80

51. 8051

52. 8051

56. 2. การเชื่อมต่อกับหน่วยความจำ 3. การเชื่อมต่อกับอุปกรณ์ภายนอก
การที่จะใช้ Micro Processor หรือ Micro Controller
ตัวใดๆ จะต้องรู้จักการทำงานในเรื่องของ
1. โครงสร้างภายใน
2. การเชื่อมต่อกับหน่วยความจำ
3. การเชื่อมต่อกับอุปกรณ์ภายนอก
4. การเขียนโปรแกรมควบคุม