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Nickie Koskinen

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Aug 3, 2024, 5:13:44 PM8/3/24

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The Microchip PIC32 is a family of complex and powerful microcontrollers that can be purchased for less than $10 in quantities of one. This microcontroller offers many peripherals useful for mechatronics purposes, such as several channels for analog-to-digital conversion, digital I/O, synchronous and asynchronous serial communication, pulse width modulation, etc. For our purposes, the primary advantages of the 32-bit PICs over the 8-bit PICs we have used (and will continue to use) are that they are faster (max clock rate of 80 MHz compared to 40 MHz), have more peripherals available, offer more program memory (flash) and data memory (RAM), and have significantly more computational horsepower due to the 32-bit address and data buses and single-cycle multiply for 32-bit math. The primary disadvantages are that they come only in surface mount packages, making them harder to work with for fast prototyping compared to the DIP (dual-inline packages) 8-bit PICs that can be plugged into a breadboard; and they must be powered by 2.3-3.6 V, unlike the 5 V of DIP 8-bit PICs and some DIP chips we would like to interface with. (Of course surface mount and lower operating voltages are vastly superior for commercial embedded products, and we will find ways to work around the disadvantages mentioned.)

Particular numbers referenced on this page refer to the PIC32MX460F512L chip, which is the PIC32 used on the NU32 board. (You may wish to compare the capabilities of our PIC to others on the Microchip PIC32 parametric table.) The NU32 development board is shown at right. The NU32 board was designed by Andy Long to easily plug into a standard prototyping breadboard (DIP profile), allowing easy prototyping with the PIC32. The NU32 board also has a voltage regulator, a USB connector, and a few LEDs and switches to allow you to get up and running quickly with only the assembled NU32 board, a USB cable, and a PC with free software downloaded from Microchip (once a "bootloader" is installed on the PIC to allow you to program it from your PC). See the getting started page. The NU32 board was created with inspiration from the UBW32 board. We wanted a board that was a little bit smaller, so we sacrificed some pins we thought unnecessary for the majority of mechatronics projects. We also wanted a board that gave students some experience soldering non-surface-mount components.

The purpose of this page is to provide a brief overview of PIC32 and NU32 hardware and programming for the beginner. Microchip provides many reference manuals, data sheets, application notes, and sample software, and there are many other helpful web resources to take you further.

To cram this much functionality into 100 pins, many of the pins serve multiple functions. For example, pin 20 can serve as a comparator input, an analog input, a change notification input which can generate an interrupt when the pin changes state, or a digital input or output. Which function a particular pin serves is determined by "Special Function Registers" (SFRs) that contain configuration bits specifying the desired use of the pin. Typically your program sets these configuration bits at the beginning of execution, and the functions of the pins are fixed while your program runs. (It is possible, though rarely needed, to change the configuration bits and change the function of pins on the fly.)

A figure showing the pin-out of the PIC32MX4XX is shown at right. Shaded pins tolerate up to 5.5 V as inputs, and pins that are "checked" are brought out to the pins of the NU32 board, described below. Click on the image for higher resolution.

Below the different pin functions are briefly summarized. The most important functions for ME 333 are indicated in bold. To learn more about these functions, you can consult the data sheet, but for the most part you will learn how to use these functions by modifying sample programs. See also the Further Reading section at the bottom of the page.

The figure at right is a block diagram of the architecture of the PIC32. The CPU (which operates at 1.8V, provided by a voltage regulator internal to the PIC32 as it's used on the NU32 board) interfaces with data memory (RAM) and the program flash memory (along with USB, a direct memory access controller, and in-circuit debugger and JTAG interfaces that can be used for programming and debugging purposes). It also interfaces with peripherals, which are what make microcontrollers useful for embedded control. These peripherals consist of PORTA ... PORTG, which are digital I/O ports; five 16-bit counters (can create 32-bit counters by chaining) that can be used for a variety of counting operations, and timing operations by counting clock ticks; analog-to-digital converter (ADC) multiplexed to 16 input pins; a real-time clock and calendar (RTCC) that can maintain accurate year-month-day-time; two comparators that compare which of two inputs has a higher voltage; UARTs for asynchronous serial communication (e.g., RS-232, RS-485); a "parallel master port" (PMP) for parallel communication; two I2C and two SPI synchronous serial communication modules; five pins for "input capture", where interrupts can be triggered by rising or falling edges; five pins for pulse-width modulation (or "output compare"); and 22 change notification pins to generate interrupts when signals change.

Note that the peripherals are on two different buses: one is a bus clocked by the system clock SYSCLK, and the other is clocked by the peripheral bus clock PBCLK. These may be the same frequency, or PBCLK may be a lower frequency, depending on how you set clock configuration bits. The top of the figure shows the timing generation, which uses either an external crystal or timing circuit (for more accurate timing), or an internal circuit, to create SYSCLK, PBCLK, and 48 MHz USBCLK (which is used for USB communication). The NU32 board uses an external 8 MHz crystal oscillator to generate a SYSCLK and PBCLK of 80 MHz using a phase-locked loop (PLL) to multiply the frequency. This is set by the software, as discussed below, not by the physical design of the board. If the Watchdog Timer is used by your program, your program must periodically reset the timer counter. Otherwise the PIC will reset. This is a way to have the PIC recover and restart if your program has entered an unexpected state.

The CPU also interfaces with a "pre-fetch (cache) module." This module fetches blocks of program instructions from flash program memory in advance of their use by the CPU, to try to limit delays due to relatively slow flash memory.

Here is a schematic of the NU32 development board, showing how the PIC32MX460F512L is used on the board, and showing which pins are made available to the user. The board layout is shown at right as and can be clicked on to view a high resolution image. It is also available as a pdf file. This excel spreadsheet details which of the PIC32 pins are used on the board, which are connected to pins available to the user, and which are not used. The mapping from the 58 pins on the NU32 board to pins on the PIC32 is also shown in the figure below. In total, 52 PIC pins are carried to the NU32 board pins.

NOT RECOMMENDED: If none of the power connections above are available, it is possible to power the board by providing 5V at pins 1 or 58 of the NU32 board. These pins are are connected to the USB 5V when the power switch is in the USB position, and they are connected to the output of the 5V regulator when the power switch is in the EXT position. This method should be avoided, to prevent accidental wiring that could damage the PIC.

Note on using the 3.3V and 5V output pins: If the NU32 is powered by a USB cable, typically such a connection can only provide about 500 mA total. Take this into account when you decide how much current to try to draw from these pins. Even if the NU32 board is powered by a higher-current supply, such as a battery or a wall-powered adapter brick, keep in mind that the onboard 3.3V regulator can only source approximately 950 mA max. You should not try to draw more than, say, half that. Also, if your supply is unregulated and you are using a 5V regulator on the NU32 board, you must take into account your board's regulator's current limit. Usual rule of thumb: don't try to drive motors, which often draw hundreds of mA, up to a few amps in typical ME 333 applications, using current flowing through your NU32 board.

Note: Code downloaded from Microchip is constantly evolving, and it is possible that the information below will be outdated for future code releases. This information is accurate for code downloaded from Microchip's website in December 2009. This version of the Microchip code is also archived on the mechatronics wiki. Also, sample code developed by us and others are generally modified from working code for different purposes, and therefore you may find unnecessary legacy code, programming inefficiency, or even incorrect code in some samples.