1. 3/25/2017 Richard Kuo Assistant Professor
NuMicro GPIO
3/25/2017
Richard Kuo
Assistant Professor

2. Outline 3.NuMicro_GPIO.ppt Project : Two-wheel robot car
GPIO Interface Introduction
Lab. LED control (GPIO_LED)
Lab. Sensor input (GPIO_PIR)
Lab. Buzzer (GPIO_Buzzer)
Lab. 7seg & Keypad (only for Nu-LB-NUC140)
Lab. GPIO Interrupt (GPIO_IRQ)
Lab. External Interrupt (GPIO_EXTINT)
Lab. Step Motor control (GPIO_Stepmotor)
Lab. DC Motor control (GPIO_L298N)
Project : Two-wheel robot car
Project : LED Cube 3x3x3
Project: Electronic Safe

3. Peripherals To use GPIO to access the following components/modules
LEDs
Buzzer IR
PIR
Relays
Step Motor
Keypad

4. GPIO I/O Modes : Input Input only with high impedance
Set GPIOx_PMD (PMDn[1:0]) to 00b the GPIOx port [n] pin is in Input mode
and the I/O pin is in tri-state (high impedance) without output drive capability
GPIO_SetMode(PC, BIT12, GPIO_MODE_INPUT);

5. GPIO I/O Modes - Output Push-Pull Output
GPIO_SetMode(PC, BIT12, GPIO_MODE_OUTPUT);

6. GPIO I/O Modes – Open_Drain
GPIO_SetMode(PC, BIT12, GPIO_MODE_OPEN_DRAIN);

7. GPIO I/O Modes Quasi bi-direction
GPIO_SetMode(PC, BIT12, GPIO_MODE_QUASI);

8. StdDriver/GPIO_OutputInput
GPIO set mode : GPIO_SetMode(PC, BIT12, GPIO_MODE_OUTPUT);
I/O groups :
NUC140 = PA, PB, PC, PD, PE
NANO102 = PA, PB, PC, PD, PE, PF
M051 = P0, P1, P2, P3, P4, P5
Mini58 = P0, P1, P2, P3, P4, P5
port no = BIT0~7 / 15
I/O modes
GPIO_MODE_INPUT : input only mode
GPIO_MODE_OUTPUT : push-pull output mode
GPIO_MODE_OPEN_DRAIN : open-drain output mode
GPIO_MODE_QUASI : quai bi-direction mode
Output value : PC12 = 0;
Read Input : if (PC12 !=0) { }

9. LED circuit

10. GPIO pin to drive LED PC12 Each IO pad drive/sink ~25mA
GPIO_SetMode(PC, BIT12, GPIO_MODE_OUTPUT);
Each IO pad drive/sink ~25mA
Entire Chip drive/sink ~200mA

11. GPIO_LED Initialize Clocks & Pins Output Mode int main(void) {
SYS_Init();
GPIO_SetMode(PC, BIT12, GPIO_MODE_OUTPUT);
while(1) {
PC12 =0; // turn on LED
CLK_SysTickDelay(100000); // Delay
PC12 =1; // turn off LED }
Initialize Clocks & Pins
Output Mode

12. PIR (Passive InfraRed) sensor

13. Reflective IR Sensor : TCRT5000
Application Circuit
Picture
220
Vcc
TCRT5000
GPIO
input
PA0 R1 R2
10K
Gnd
IR Diode keep emitting Infrared light
IR Transistor receive the reflective Infrared light
Top View

14. GPIO_PIR display Detection message Passive Infrared Detector
detecting human body

15. GPIO_PIR
int main(void) { SYS_Init(); GPIO_SetMode(PA, BIT0, GPIO_MODE_INPUT); while(1) { if (PA0==1) printf("PIR detected!\n"); else printf("PIR no detection!\n"); }
Input Mode

16. Buzzer schematic (Nu-LB-NUC140)
0 ohm
R1 is shorted

17. GPIO_Buzzer
void Init_Buzzer(void) { GPIO_SetMode(PB, BIT11, GPIO_PMD_OUTPUT); PB11=1; // turn off Buzzer } void Buzz(int number) int i; for (i=0; i<number; i++) { PB11 =0; // turn on Buzzer CLK_SysTickDelay(100000); // Delay PB11 =1; // turn off Buzzer

18. 7-segment LED

19. 7-segment LED – component diagram

20. 7-segment LED – application circuit

21. Exercise : 7-segment LED
PE0
PE1
PE2
PE3
PE4
PE5
PE6
PE7
PC4
Nu-LB-NUC140

22. Seven_Segment.c #include <stdio.h> #include "NUC100Series.h"
#include "GPIO.h"
#include "SYS.h"
#include "Seven_Segment.h"
#define SEG_N0 0x82
#define SEG_N1 0xEE
#define SEG_N2 0x07
#define SEG_N3 0x46
#define SEG_N4 0x6A
#define SEG_N5 0x52
#define SEG_N6 0x12
#define SEG_N7 0xE6
#define SEG_N8 0x02
#define SEG_N9 0x62
#define SEG_N10 0x22
#define SEG_N11 0x1A
#define SEG_N12 0x93
#define SEG_N13 0x0E
#define SEG_N14 0x13
#define SEG_N15 0x33
unsigned char SEG_BUF[16]={SEG_N0, SEG_N1, SEG_N2, SEG_N3, SEG_N4, SEG_N5, SEG_N6, SEG_N7, SEG_N8, SEG_N9, SEG_N10, SEG_N11, SEG_N12, SEG_N13, SEG_N14, SEG_N15};
void OpenSevenSegment(void) {
GPIO_SetMode(PC, BIT4, GPIO_PMD_OUTPUT);
GPIO_SetMode(PC, BIT5, GPIO_PMD_OUTPUT);
GPIO_SetMode(PC, BIT6, GPIO_PMD_OUTPUT);
GPIO_SetMode(PC, BIT7, GPIO_PMD_OUTPUT);
PC4=0; PC5=0; PC6=0; PC7=0;
GPIO_SetMode(PE, BIT0, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT1, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT2, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT3, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT4, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT5, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT6, GPIO_PMD_OUTPUT);
GPIO_SetMode(PE, BIT7, GPIO_PMD_OUTPUT);
PE0=0; PE1=0; PE2=0; PE3=0;
PE4=0; PE5=0; PE6=0; PE7=0; }

23. Seven_Segment.c switch(i) {
void ShowSevenSegment(unsigned char no, unsigned char number) {
unsigned char temp,i;
temp=SEG_BUF[number];
for(i=0;i<8;i++) {
if((temp&0x01)==0x01)
switch(i) {
case 0: PE0=1; break;
case 1: PE1=1; break;
case 2: PE2=1; break;
case 3: PE3=1; break;
case 4: PE4=1; break;
case 5: PE5=1; break;
case 6: PE6=1; break;
case 7: PE7=1; break; }
else
switch(i) {
case 0: PE0=0; break;
case 1: PE1=0; break;
case 2: PE2=0; break;
case 3: PE3=0; break;
case 4: PE4=0; break;
case 5: PE5=0; break;
case 6: PE6=0; break;
case 7: PE7=0; break; }
temp=temp>>1;
switch(no) {
case 0: PC4=1; break;
case 1: PC5=1; break;
case 2: PC6=1; break;
case 3: PC7=1; break;

24. Seven_Segment.c void CloseSevenSegment(void) { PC4=0; PC5=0; PC6=0;}

25. 4x4 Keypad

26. 3x3 Keypad on Learning board1 2 3 4 5 6 7 8 9

27. 3x3 Keypad schematic (Nu-LB-NUC140)

28. Keypad GPIO setting GPIO pin mode : Input
GPIO_SetMode(PA, BIT0, GPIO_MODE_QUASI);
Key press will connect output pin to input pin
Quasi output 1 : pin is floating
Quasi output 0 : pin drive to Low
Keypad scanning
Set input pins PA3,4,5 to 1
Set output pins to 0 one at a time PA0,1,2
PA3=1; PA4=1; PA5=1;
PA0=1; PA1=1; PA2=0;
if (PA3==0) return 1;
if (PA4==0) return 4;
if (PA5==0) return 7;

29. Scankey.c void OpenKeyPad(void) {
GPIO_SetMode(PA, BIT0, GPIO_MODE_QUASI);
GPIO_SetMode(PA, BIT1, GPIO_MODE_QUASI);
GPIO_SetMode(PA, BIT2, GPIO_MODE_QUASI);
GPIO_SetMode(PA, BIT3, GPIO_MODE_QUASI);
GPIO_SetMode(PA, BIT4, GPIO_MODE_QUASI);
GPIO_SetMode(PA, BIT5, GPIO_MODE_QUASI); }
uint8_t ScanKey(void) {
PA0=1; PA1=1; PA2=0; PA3=1; PA4=1; PA5=1;
if (PA3==0) return 1;
if (PA4==0) return 4;
if (PA5==0) return 7;
PA0=1; PA1=0; PA2=1; PA3=1; PA4=1; PA5=1;
if (PA3==0) return 2;
if (PA4==0) return 5;
if (PA5==0) return 8;
PA0=0; PA1=1; PA2=1; PA3=1; PA4=1; PA5=1;
if (PA3==0) return 3;
if (PA4==0) return 6;
if (PA5==0) return 9;
return 0; }

30. GPIO_7seg_Keypad Scankey.c : function calls for scanning keypad 3x3
7-segment display number = 5
Press middle key
of 3x3 keypad
Scankey.c : function calls for scanning keypad 3x3

31. GPIO_Keypad
Press key
Vcc/Gnd
GPIOs control 4-port Relay

32. GPIO_Keypad // PA0,1,2,3,4,5 connected to 3x3 Keypad int main(void)
// PC12,13,14,15 connected to LEDs (or Relays)
#include <stdio.h>
#include "NUC100Series.h"
#include "MCU_init.h"
#include "SYS_init.h"
#include "Scankey.h“
void Init_GPIO(void) {
GPIO_SetMode(PC, BIT12, GPIO_MODE_OUTPUT);
GPIO_SetMode(PC, BIT13, GPIO_MODE_OUTPUT);
GPIO_SetMode(PC, BIT14, GPIO_MODE_OUTPUT);
GPIO_SetMode(PC, BIT15, GPIO_MODE_OUTPUT);
PC12=1; PC13=1; PC14=1; PC15=1; }
int main(void) {
uint32_t i =0;
SYS_Init();
OpenKeyPad();
Init_GPIO();
while(1) {
i=ScanKey();
switch(i) {
case 1 : PC12=0; break;
case 2 : PC13=0; break;
case 3 : PC14=0; break;
case 4 : PC15=0; break;
default: PC12=1; PC13=1; PC14=1; PC15=1; break; }

33. GPIO Interrupt pin circuit
Pullup resistor
MCU

34. GPIO Interrupt pin setting
GPIO pin mode : Input
GPIO_SetMode(PB, BIT12, GPIO_MODE_INPUT);
GPIO pin chip internal Pull-up
GPIO_ENABLE_PULL_UP(PB, BIT12);
GPIO interrupt trigger type : RISING/FALLING/BOTH_EDGE/HIGH/LOW
GPIO_EnableInt(PB, BIT12, GPIO_INT_FALLING);
GPIO Interrupts : two groups = ABC or DEF
NVIC_EnableIRQ(GPABC_IRQn); // ABC group share 1 interrupt to CPU
NVIC_EnableIRQ(GPDEF_IRQn); // DEF group share 1 interrupt to CPU
GPIO pin debouncing
Debounce Clock Source = LIRC (10KHz) or HCLK
GPIO_SET_DEBOUNCE_TIME(GPIO_DBCLKSRC_LIRC, GPIO_DBCLKSEL_64);
GPIO_ENABLE_DEBOUNCE(PB, BIT12);

35. Initialize GPIO interrupt pins
// KEY1 to PB12, KEY2 to PB13, KEY3 to PB14
void Init_KEY(void) {
GPIO_SetMode(PB, (BIT12 | BIT13 | BIT14), GPIO_MODE_INPUT);
GPIO_ENABLE_PULL_UP(PB, (BIT12 | BIT13 | BIT14));
GPIO_EnableInt(PB, 12, GPIO_INT_FALLING);
GPIO_EnableInt(PB, 13, GPIO_INT_FALLING);
GPIO_EnableInt(PB, 14, GPIO_INT_FALLING);
NVIC_EnableIRQ(GPAB_IRQn);
GPIO_SET_DEBOUNCE_TIME(GPIO_DBCLKSRC_LIRC, GPIO_DBCLKSEL_64);
GPIO_ENABLE_DEBOUNCE(PB, (BIT12 | BIT13 | BIT14)); }
GPAB_IRQn for NUC100 series
GPABC_IRQn for Nano100 series

36. GPIO_IRQ int32_t main() { SYS_Init(); Init_KEY();
printf("Testing KEY1/2/3 IRQ generation:\n");
while(1) {
if (KEY1_Flag) {
printf("KEY1/PB12 Interrupt!\n");
KEY1_Flag=0; }
if (KEY2_Flag) {
printf("KEY2/PB13 Interrupt!\n"); KEY2_Flag=0; }
if (KEY3_Flag) {
printf("KEY3/PB14 Interrupt!\n");
KEY3_Flag=0; } }

37. GP01_IRQHandler (Mini58Series)
void GPIO01_IRQHandler(void) {
/* To check if P1.5 interrupt occurred */
if (P1->INTSRC & BIT5) {
P1->INTSRC = BIT5;
printf("P1.5 INT occurred. \n");
} else {
/* Un-expected interrupt. Just clear all PORT0, PORT1 interrupts */
P0->INTSRC = P0->INTSRC;
P1->INTSRC = P1->INTSRC;
printf("Un-expected interrupts. \n"); }

38. External Interrupt Pins (INT0 & INT1)
Two Pins dedicated for External Interrupt (higher interrupt priority then GPIO interrupt)

39. GPIO_EXTINT void EINT0_IRQHandler(void) {
GPIO_CLR_INT_FLAG(PB, BIT14); // Clear GPIO interrupt flag
printf("PB14 EINT0 occurred.\n"); }
void EINT1_IRQHandler(void)
GPIO_CLR_INT_FLAG(PB, BIT15); // Clear GPIO interrupt flag
printf("PB15 EINT1 occurred.\n");

40. GPIO_EXTINT void Init_EXTINT(void) {
// Configure EINT0 pin and enable interrupt by falling edge trigger
GPIO_SetMode(PB, BIT14, GPIO_MODE_INPUT);
GPIO_EnableEINT0(PB, 14, GPIO_INT_FALLING);
NVIC_EnableIRQ(EINT0_IRQn);
// Configure EINT1 pin and enable interrupt by rising and falling edge trigger
GPIO_SetMode(PB, BIT15, GPIO_MODE_INPUT);
GPIO_EnableEINT1(PB, 15, GPIO_INT_RISING); // RISING, FALLING, BOTH_EDGE, HIGH, LOW
NVIC_EnableIRQ(EINT1_IRQn);
// Enable interrupt de-bounce function and select de-bounce sampling cycle time
GPIO_SET_DEBOUNCE_TIME(GPIO_DBCLKSRC_LIRC, GPIO_DBCLKSEL_64);
GPIO_ENABLE_DEBOUNCE(PB, BIT14);
GPIO_ENABLE_DEBOUNCE(PB, BIT15); }

41. GPIO_EXTINT
int32_t main() {
SYS_Init();
Init_EXTINT();
while(1); }
Note: Open Debug Session to run in Keil MDK to see printf message !

42. Stepping Motor Operation principle of stepper motor

43. Step Motor Driving Methods
Four phase Step Motor :
4 phases are A, /A, B, /B
Diving Method as left
Wave Drive: single phase full step
Full Step Drive : two phase full step
Half Stepping : one/two phase half step
Microstepping

44. 5V Step Motor 28YBJ-48
步進電機 28YBJ-48
ULN2003 驅動IC

45. GPIO_Stepmotor 5V Step Motor Driver IC : TI ULN2003A Connections
Motor A+ connected to INA of ULN2003A, controlled by NUC140 GPA3
Motor A- connected to INB of ULN2003A, controlled by NUC140 GPA2
Motor B+ connected to INC of ULN2003A, controlled by NUC140 GPA1
Motor B- connected to IND of ULN2003A, controlled by NUC140 GPA0
unsigned char CCW[8]={0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09}; //counter-clockwise sequence
unsigned char CW[8] ={0x09,0x01,0x03,0x02,0x06,0x04,0x0c,0x08}; //clockwise sequence

46. Stepping Control Port Step InA 1 InB InC InD Port Step InA 1 InB InC
Clockwise : 0x09,0x01,0x03,0x02,0x06,0x04,0x0c,0x08
Counter clockwise : 0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09
Port
Step
InA 1
InB
InC
InD
Port
Step
InA 1
InB
InC
InD

47. GPIO_Stepmotor

48. System Diagram : Two-Wheel DC Motors
微控制器
直流馬達
MCU
直流馬達
GPIOs
全橋直流馬達
驅動板

49. DC Motor Driver : L298N
直流馬達驅動板

50. H-Bridge Motor Driver Circuit
Two GPIO pins output to control current direction thru a DC motor
IN1=1 & IN2=0
IN1
IN2
IN1=1 & IN2=0
IN1=0 & IN2=1 M
Vcc
IN1=0 & IN2=1

51. GPIO_L298N #include <stdio.h> #include "NUC100Series.h"
#include "MCU_init.h"
#include "SYS_init.h"
void Init_GPIO(void) {
GPIO_SetMode(PA, BIT0, GPIO_MODE_OUTPUT);
GPIO_SetMode(PA, BIT1, GPIO_MODE_OUTPUT);
GPIO_SetMode(PA, BIT2, GPIO_MODE_OUTPUT);
GPIO_SetMode(PA, BIT3, GPIO_MODE_OUTPUT);
PA0=0; PA1=0; PA2=0; PA3=0; }
void Forward() { PA0=1; PA1=0; PA2=1; PA3=0; }
void Backward() { PA0=0; PA1=1; PA2=0; PA3=1; }
void Right() { PA0=1; PA1=0; PA2=0; PA3=1; }
void Left() { PA0=0; PA1=1; PA2=1; PA3=0; }
void Stop() { PA0=0; PA1=0; PA2=0; PA3=0; }
int main(void) {
SYS_Init();
Init_GPIO();
Forward();
CLK_SysTickDelay(500000); // Delay
Backward();
Left();
Right();
CLK_SysTickDelay(500000); //Delay
Stop(); }

52. Project : Two-Wheel Robotic Car

53. Project : LED Cube 3x3x3
Ex.Video :

54. LED Cube 3x3x3 schematic 1 1 1 2 2 2 3 3 3 PD0 PD1 PD2 PD3 PD4 PD5 PD6
PA0
PA1
PA2

55. Project : LED Cube 8x8x8
Ex. Video:

56. Project : Electronic Safe
Keypad input passcode, GPIO output to control magnet valve
Reference : Samsung Door Lock

57. Electronic Safe : Interface Circuit
Vcc
+6V (1.5V AA x4)
Gnd
Ground
GPB15
GPA11
2N2222

58. Electronic Safe : Interface Circuit
GPA12
+6V
GPA13
GPA14
GPA15
2N2222
Gnd

59. Important Notice !
This educational material are neither intended nor warranted for usage in systems or equipment, any malfunction or failure of which may cause loss of human life, bodily injury or severe property damage. Such applications are deemed, “Insecure Usage”.
Insecure usage includes, but is not limited to: equipment for surgical implementation, atomic energy control instruments, airplane or spaceship instruments, the control or operation of dynamic, brake or safety systems designed for vehicular use, traffic signal instruments, all types of safety devices, and other applications intended to support or sustain life.
All Insecure Usage shall be made at user’s own risk, and in the event that third parties lay claims to the author as a result of customer’s Insecure Usage, the user shall indemnify the damages and liabilities thus incurred by using this material.
Please note that all lecture and sample codes are subject to change without notice. All the trademarks of products and companies mentioned in this material belong to their respective owners.