dsPIC33F Product Overview dsPIC(R) DSC High-Performance 16-Bit Digital Signal Controllers (c) 2005 Microchip Technology Inc. Preliminary DS70155C Note the following details of the code protection feature on Microchip devices: * Microchip products meet the specification contained in their particular Microchip Data Sheet. * Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the intended manner and under normal conditions. * There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip's Data Sheets. Most likely, the person doing so is engaged in theft of intellectual property. * Microchip is willing to work with the customer who is concerned about the integrity of their code. * Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not mean that we are guaranteeing the product as "unbreakable." Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our products. Attempts to break Microchip's code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act. Information contained in this publication regarding device applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. MICROCHIP MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. Microchip disclaims all liability arising from this information and its use. Use of Microchip's products as critical components in life support systems is not authorized except with express written approval by Microchip. No licenses are conveyed, implicitly or otherwise, under any Microchip intellectual property rights. Trademarks The Microchip name and logo, the Microchip logo, Accuron, dsPIC, KEELOQ, microID, MPLAB, PIC, PICmicro, PICSTART, PRO MATE, PowerSmart, rfPIC, and SmartShunt are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. AmpLab, FilterLab, Migratable Memory, MXDEV, MXLAB, PICMASTER, SEEVAL, SmartSensor and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U.S.A. Analog-for-the-Digital Age, Application Maestro, dsPICDEM, dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR, FanSense, FlexROM, fuzzyLAB, In-Circuit Serial Programming, ICSP, ICEPIC, Linear Active Thermistor, MPASM, MPLIB, MPLINK, MPSIM, PICkit, PICDEM, PICDEM.net, PICLAB, PICtail, PowerCal, PowerInfo, PowerMate, PowerTool, rfLAB, rfPICDEM, Select Mode, Smart Serial, SmartTel, Total Endurance and WiperLock are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. SQTP is a service mark of Microchip Technology Incorporated in the U.S.A. All other trademarks mentioned herein are property of their respective companies. (c) 2005, Microchip Technology Incorporated, Printed in the U.S.A., All Rights Reserved. Printed on recycled paper. Microchip received ISO/TS-16949:2002 quality system certification for its worldwide headquarters, design and wafer fabrication facilities in Chandler and Tempe, Arizona and Mountain View, California in October 2003. The Company's quality system processes and procedures are for its PICmicro(R) 8-bit MCUs, KEELOQ(R) code hopping devices, Serial EEPROMs, microperipherals, nonvolatile memory and analog products. In addition, Microchip's quality system for the design and manufacture of development systems is ISO 9001:2000 certified. DS70155C-page ii Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F dsPIC33F High-Performance 16-Bit Digital Signal Controller Product Overview Operating Range Interrupt Controller * DC - 40 MIPS (40 MIPS @ 3.0-3.6V, -40 to +85C) * Industrial temperature range (-40 to +85C) * 5-cycle latency * 117 interrupt vectors * Up to 67 available interrupt sources, up to 5 external interrupts * 7 programmable priority levels * 5 processor exceptions High-Performance DSC CPU * * * * * * * * * * * * * * * Modified Harvard architecture C compiler optimized instruction set 16-bit wide data path 24-bit wide instructions Linear program memory addressing up to 4M instruction words Linear data memory addressing up to 64 Kbytes 84 base instructions: mostly 1 word/1 cycle Sixteen 16-bit general purpose registers Two 40-bit accumulators: - With rounding and saturation options Flexible and powerful addressing modes: - Indirect, modulo and bit-reversed Software stack 16 x 16 fractional/integer multiply operations 32/16 and 16/16 divide operations Single-cycle multiply-and-accumulate: - Accumulator write back for DSP operations - Dual data fetch Up to +/- 16-bit shifts, for up to 40-bit data Digital I/O * * * * * On-Chip Flash and SRAM * Flash program memory, up to 256 Kbytes * Data SRAM (up to 30 Kbytes): - Includes 2 KB of DMA RAM System Management Direct Memory Access (DMA) * 8-channel hardware DMA * Allows data transfer between RAM and a peripheral while CPU is executing code (no cycle stealing) * 2 KB of dual-ported DMA buffer area (DMA RAM) to store data transferred via DMA * Most peripherals support DMA (c) 2005 Microchip Technology Inc. Up to 85 programmable digital I/O pins Wake-up/Interrupt-on-Change on up to 24 pins Output pins can drive from 3.0V to 3.6V All digital input pins are 5V tolerant 4 mA sink and source on all I/O pins * Flexible clock options: - External, crystal, resonator, internal RC - Fully integrated PLL - Extremely low jitter PLL * Power-up timer * Oscillator Start-up Timer/Stabilizer * Watchdog timer with its own RC oscillator * Fail-Safe Clock Monitor * Reset by multiple sources Power Management * On-chip 2.5V voltage regulator * Switch between clock sources in real time * Idle, Sleep and Doze modes with fast wake-up Preliminary DS70155C-page 1 dsPIC33F Timers/Capture/Compare/PWM Motor Control Peripherals * Timer/Counters: up to nine 16-bit timers: - Can pair up to make four 32-bit timers - 1 timer runs as Real-Time Clock with external 32 kHz oscillator - Programmable prescaler * Input Capture (up to 8 channels): - Capture on up, down or both edges - 16-bit capture input functions - 4-deep FIFO on each capture * Output Compare (up to 8 channels): - Single or Dual 16-Bit Compare mode - 16-Bit Glitchless PWM mode * Motor Control PWM (up to 8 channels): - 4 duty cycle generators - Independent or Complementary mode - Programmable dead time and output polarity - Edge or center-aligned - Manual output override control - Up to 2 Fault inputs - Trigger for A/D conversions - PWM frequency for 16-bit resolution (@ 40 MIPS) = 1220 Hz for Edge-Aligned mode, 610 Hz for Center-Aligned mode - PWM frequency for 11-bit resolution (@ 40 MIPS) = 39.1 kHz for Edge-Aligned mode, 19.55 kHz for Center-Aligned mode * Quadrature Encoder Interface module: - Phase A, Phase B and index pulse input - 16-bit up/down position counter - Count direction status - Position Measurement (x2 and x4) mode - Programmable digital noise filters on inputs - Alternate 16-bit Timer/Counter mode - Interrupt on position counter rollover/ underflow Communication Modules * 3-wire SPITM (up to 2 modules): - Framing supports I/O interface to simple codecs - Supports 8-bit and 16-bit data - Supports all serial clock formats and sampling modes - 8-word FIFO buffers * I2CTM (up to 2 modules): - Full Multi-Master Slave mode support - 7-bit and 10-bit addressing - Bus collision detection and arbitration - Integrated signal conditioning - Address masking * UART (up to 2 modules): - Interrupt-on-address bit detect - Wake-up-on-Start bit from Sleep mode - 4-character TX and RX FIFO buffers - LIN bus support - IrDA(R) encoding and decoding in hardware - High-Speed Baud mode * Data Conversion Interface (DCI) module: - Codec interface - Supports I2S and AC'97 protocols - Up to 16-bit data words, up to 16 words per frame - 4-word deep TX and RX buffers * Enhanced CAN 2.0B active (up to 2 modules): - Up to 8 transmit and up to 16 receive buffers - 16 receive filters and 3 masks - Loopback, Listen Only and Listen All Messages modes for diagnostics and bus monitoring - Wake-up on CAN message - FIFO mode using DMA DS70155C-page 2 Analog-to-Digital Converters * Up to two 10-bit or 12-bit A/D modules in a device * 10-bit 2.2 Msps or 12-bit 1 Msps conversion: - 2 or 4 simultaneous samples - Up to 32 input channels with auto-scanning - 16-deep result buffer - Conversion start can be manual or synchronized with 1 of 4 trigger sources - Conversion possible in Sleep mode - 1 LSB max integral nonlinearity - 1 LSB max differential nonlinearity CMOS Flash Technology * * * * * Low-power, high-speed Flash technology Fully static design 3.3V (+/- 10%) operating voltage Industrial temperature Low-power consumption Packaging: * 100-pin TQFP (14x14x1 mm and 12x12x1 mm) * 80-pin TQFP (12x12x1 mm) * 64-pin TQFP (10x10x1 mm) Note: Preliminary See Table 1-1 and Table 1-2 for exact peripheral features per device. (c) 2005 Microchip Technology Inc. dsPIC33F 1.0 dsPIC33F PRODUCT FAMILIES 1.1 General Purpose Family The dsPIC33F General Purpose Family (Table 1-1) is ideal for a wide variety of 16-bit MCU embedded applications. The variants with codec interfaces are well-suited for audio applications. Program Flash Memory (KB) RAM(1) (KB) Output Compare Std. PWM Codec Interface UART SPITM I2CTM CAN I/O Pins (Max)(2) Packages 33FJ64GP206 64 64 8 9 8 8 1 1 A/D, 18 ch 2 2 1 0 53 PT 33FJ64GP306 64 64 16 9 8 8 1 1 A/D, 18 ch 2 2 2 0 53 PT 33FJ64GP310 100 64 16 9 8 8 1 1 A/D, 32 ch 2 2 2 0 85 PF, PT 33FJ64GP706 64 64 16 9 8 8 1 2 A/D, 18 ch 2 2 2 2 53 PT 33FJ64GP708 80 64 16 9 8 8 1 2 A/D, 24 ch 2 2 2 2 69 PT 33FJ64GP710 100 64 16 9 8 8 1 2 A/D, 32 ch 2 2 2 2 85 PF, PT 33FJ128GP206 64 128 8 9 8 8 1 1 A/D, 18 ch 2 2 1 0 53 PT 33FJ128GP306 64 128 16 9 8 8 1 1 A/D, 18 ch 2 2 2 0 53 PT 33FJ128GP310 100 128 16 9 8 8 1 1 A/D, 32 ch 2 2 2 0 85 PF, PT 33FJ128GP706 64 128 16 9 8 8 1 2 A/D, 18 ch 2 2 2 2 53 PT 33FJ128GP708 80 128 16 9 8 8 1 2 A/D, 24 ch 2 2 2 2 69 PT 33FJ128GP710 100 128 16 9 8 8 1 2 A/D, 32 ch 2 2 2 2 85 PF, PT 33FJ256GP506 64 256 16 9 8 8 1 1 A/D, 18 ch 2 2 2 1 53 PT 33FJ256GP510 100 256 16 9 8 8 1 1 A/D, 32 ch 2 2 2 1 85 PF, PT 33FJ256GP710 100 256 30 9 8 8 1 2 A/D, 32 ch 2 2 2 2 85 PF, PT Device Note 1: 2: A/D Converter Pins Input Capture dsPIC33F GENERAL PURPOSE FAMILY VARIANTS Timer 16-bit TABLE 1-1: RAM size is inclusive of 2 KB DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 3 dsPIC33F 1.2 Motor Control Family Supply (UPS), inverters, Switched mode power supplies, power factor correction and also for controlling the power management module in servers, telecommunication equipment and other industrial equipment. This family of dsPIC33F controllers (Table 1-2) supports a variety of motor control applications, such as brushless DC motors, single and 3-phase induction motors and switched reluctance motors. These products are also well-suited for Uninterrupted Power Input Capture Output Compare Std. PWM Motor Control PWM Quadrature Encoder Interface Codec Interface A/D Converter UART SPITM I2CTM CAN I/O Pins (Max)(2) dsPIC33F MOTOR CONTROL AND POWER CONVERSION FAMILY VARIANTS Timer 16-bit TABLE 1-2: Packages 33FJ64MC506 64 64 8 9 8 8 8 ch 1 0 1 A/D, 16 ch 2 2 2 1 53 PT 33FJ64MC508 80 64 8 9 8 8 8 ch 1 0 1 A/D, 18 ch 2 2 2 1 69 PT 33FJ64MC510 100 64 8 9 8 8 8 ch 1 0 1 A/D, 24 ch 2 2 2 1 85 PF, PT 33FJ64MC706 64 64 16 9 8 8 8 ch 1 0 2 A/D, 16 ch 2 2 2 1 53 PT 33FJ64MC710 100 64 16 9 8 8 8 ch 1 0 2 A/D, 24 ch 2 2 2 2 85 PF, PT 33FJ128MC506 64 128 8 9 8 8 8 ch 1 0 1 A/D, 16 ch 2 2 2 1 53 PT 33FJ128MC510 100 128 8 9 8 8 8 ch 1 0 1 A/D, 24 ch 2 2 2 1 85 PF, PT 33FJ128MC706 64 128 16 9 8 8 8 ch 1 0 2 A/D, 16 ch 2 2 2 1 53 PT 33FJ128MC708 80 128 16 9 8 8 8 ch 1 0 2 A/D, 18 ch 2 2 2 1 69 PT 33FJ128MC710 100 128 16 9 8 8 8 ch 1 0 2 A/D, 24 ch 2 2 2 2 85 PF, PT 33FJ256MC510 100 256 16 9 8 8 8 ch 1 0 1 A/D, 24 ch 2 2 2 1 85 PF, PT 33FJ256MC710 100 256 30 9 8 8 8 ch 1 0 2 A/D, 24 ch 2 2 2 2 85 PF, PT Device Note 1: 2: Pins Program Flash RAM(1) Memory (KB) (KB) RAM size is inclusive of 2 KB DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions. DS70155C-page 4 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F PRODUCT IDENTIFICATION SYSTEM dsPIC 33 FJ 256 GP7 10 T I / PT - XXX Examples: a) Microchip Trademark Architecture Flash Memory Family b) Program Memory Size (KB) Product Group dsPIC33FJ256GP710I/PT-PS: General Purpose dsPIC33, 64 KB program memory, 100-pin, Industrial temp., TQFP package, Prototype Sample. dsPIC33FJ64MC706I/PT-ES: Motor Control dsPIC33, 64 KB program memory, 64-pin, Industrial temp., TQFP package, Engineering Sample. Pin Count Tape and Reel Flag (if applicable) Temperature Range Package Pattern Architecture 33 = 16-bit Digital Signal Controller Flash Memory Family FJ = Flash program memory, 3.3V Product Group GP2 GP3 GP5 GP7 MC5 MC7 = = = = = = Pin Count 06 08 10 = 64-pin = 80-pin = 100-pin Temperature Range I = Package PT PF = 10x10 or 12x12 mm TQFP (Thin Quad Flatpack) = 14x14 mm TQFP (Thin Quad Flatpack) Pattern Three-digit QTP, SQTP, Code or Special Requirements (blank otherwise) ES = Engineering Sample General Purpose family General Purpose family General Purpose family General Purpose family Motor Control family Motor Control family -40C to +85C (Industrial) (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 5 dsPIC33F 2.0 dsPIC33F DEVICE FAMILY OVERVIEW The dsPIC33F device family employs a powerful 16-bit architecture that seamlessly integrates the control features of a Microcontroller (MCU) with the computational capabilities of a Digital Signal Processor (DSP). The resulting functionality is ideal for applications that rely on high-speed, repetitive computations, as well as control. The DSP engine, dual 40-bit accumulators, hardware support for division operations, barrel shifter, 17 x 17 multiplier, a large array of 16-bit working registers and FIGURE 2-1: a wide variety of data addressing modes, together provide the dsPIC33F Central Processing Unit (CPU) with extensive mathematical processing capability. Flexible and deterministic interrupt handling, coupled with a powerful array of peripherals, renders the dsPIC33F devices suitable for control applications. Further, Direct Memory Access (DMA) enables overhead-free transfer of data between several peripherals and a dedicated DMA RAM. Reliable, field programmable Flash program memory ensures scalability of applications that use dsPIC33F devices. Figure 2-1 shows a sample device block diagram typical of the dsPIC33F product family. dsPIC33F DEVICE BLOCK DIAGRAM X-Data Bus <16-bit> Y-Data Bus <16-bit> Barrel Shifter 17 x 17 Multiplier Y AGU Data SRAM up to 28 Kbytes X AGU I/O Ports ACCA<40> ACCB<40> DSP Engine W Register Array 16 x 16 Program Flash Memory Data Access Memory Mapped Program Counter <23 bits> 23 Instruction Prefetch & Decode 24 Divide Control 16-bit ALU Legend: MCU/DSP X-Data Path Status Register DSP Y-Data Path Flash Program Memory up to 256 Kbytes Dual Port RAM 2 Kbytes Peripherals DMA Controller Address Path DS70155C-page 6 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 3.1 Overview FIGURE 3-1: The dsPIC33F CPU module has a 16-bit (data) modified Harvard architecture with an enhanced instruction set, including significant support for DSP. The CPU has a 24-bit instruction word with a variable length opcode field. The Program Counter (PC) is 23 bits wide and addresses up to 4M x 24 bits of user program memory space. The actual amount of program memory implemented, as illustrated in Figure 3-1, varies from one device to another. A single-cycle instruction prefetch mechanism is used to help maintain throughput and provides predictable execution. All instructions execute in a single cycle, with the exception of instructions that change the program flow, the double word move (MOV.D) instruction and the table instructions. Overhead-free program loop constructs are supported using the DO and REPEAT instructions, both of which are interruptible at any point. PROGRAM SPACE MEMORY MAP Reset - GOTO Instruction Reset - Target Address Reserved Osc. Fail Trap Vector Address Error Trap Vector Stack Error Trap Vector Math Error Trap Vector DMA Error Vector Reserved Vector Reserved Vector 000014 Interrupt Vector Table Reserved Alternate Vector Table 0001FE 000200 02ABFE 02AC00 Reserved 7FFFFE 800000 The dsPIC33F instruction set has two classes of instructions: the MCU class of instructions and the DSP class of instructions. These two instruction classes are seamlessly integrated into a single CPU. The instruction set includes many addressing modes and is designed for optimum C compiler efficiency. DATA MEMORY OVERVIEW Configuration Memory Space Reserved The data space can be addressed as 32K words or 64 Kbytes and is split into two blocks, referred to as X and Y data memory. Each memory block has its own independent Address Generation Unit (AGU). The MCU class of instructions operates solely through the X memory AGU, which accesses the entire memory map as one linear data space. Certain DSP instructions operate through the X and Y AGUs to support dual operand reads, which splits the data address space into two parts. The X and Y data space boundary is device specific. The upper 32 Kbytes of the data space memory map can optionally be mapped into program space at any 16K program word boundary defined by the 8-bit Program Space Visibility Page (PSVPAG) register. The program-to-data space mapping feature lets any instruction access program space as if it were data space. The data space includes 2 Kbytes of DMA RAM, which is primarily used for DMA data transfers, but may be used as general purpose RAM. (c) 2005 Microchip Technology Inc. 0000FE 000100 000104 User Flash Program Memory (87296 x 24-bit) The dsPIC33F devices have sixteen 16-bit working registers in the programmer's model. Each of the working registers can serve as a data, address or address offset register. The 16th working register (W15) operates as a software Stack Pointer (SP) for interrupts and calls. 3.1.1 000000 000002 000004 Vector Tables CPU ARCHITECTURE User Memory Space 3.0 Preliminary Device Configuration Registers (12 x 8-bit) F7FFFE F80000 F80016 F80018 Reserved Device ID (2 x 16-bit) Reserved FEFFFE FF0000 FF0002 FF0004 FFFFFE DS70155C-page 7 dsPIC33F 3.1.2 ADDRESSING MODES OVERVIEW Overhead-free circular buffers (modulo addressing) are supported in both X and Y address spaces. The modulo addressing removes the software boundary checking overhead for DSP algorithms. Furthermore, the X AGU circular addressing can be used with any of the MCU class of instructions. The X AGU also supports bit-reversed addressing to greatly simplify input or output data reordering for radix-2 FFT algorithms. The CPU supports Inherent (no operand), Relative, Literal, Memory Direct, Register Direct and Register Indirect Addressing modes. Each instruction is associated with a predefined addressing mode group depending upon its functional requirements. As many as 6 addressing modes are supported for each instruction. For most instructions, the dsPIC33F is capable of executing a data (or program data) memory read, a working register (data) read, a data memory write and a program (instruction) memory read per instruction cycle. As a result, three parameter instructions can be supported, allowing A + B = C operations to be executed in a single cycle. 3.1.3 DSP ENGINE OVERVIEW The dsPIC33F supports 16/16 and 32/16 divide operations, both fractional and integer. All divide instructions are iterative operations. They must be executed within a REPEAT loop, resulting in a total execution time of 19 instruction cycles. The divide operation can be interrupted during any of those 19 cycles without loss of data. A 40-bit barrel shifter is used to perform up to a 16-bit left or right shift in a single cycle. The barrel shifter can be used by both MCU and DSP instructions. 3.1.5 The dsPIC33F has a vectored exception scheme with up to 5 sources of non-maskable traps and 67 interrupt sources. Each interrupt source can be assigned to one of seven priority levels. 3.1.6 1. 3. 4. 5. 6. 3.1.4 SPECIAL MCU FEATURES The dsPIC33F features a 17-bit by 17-bit, single-cycle multiplier that is shared by both the MCU ALU and DSP engine. The multiplier can perform signed, unsigned and mixed-sign multiplication. Using a 17-bit by 17-bit multiplier for 16-bit by 16-bit multiplication not only allows you to perform mixed-sign multiplication, it also achieves accurate results for special operations such as (-1.0) x (-1.0). DS70155C-page 8 FEATURES TO ENHANCE COMPILER EFFICIENCY In addition to extensive DSP capability, the CPU architecture possesses several features that lead to a more efficient (code size and speed) C compiler. 2. The DSP engine features a high-speed, 17-bit by 17-bit multiplier, a 40-bit ALU, two 40-bit saturating accumulators and a 40-bit bidirectional barrel shifter. The barrel shifter is capable of shifting a 40-bit value, up to 16 bits right or left, in a single cycle. The DSP instructions operate seamlessly with all other instructions and have been designed for optimal realtime performance. The MAC instruction and other associated instructions can concurrently fetch two data operands from memory while multiplying two W registers and accumulating and optionally saturating the result in the same cycle. This instruction functionality requires that the RAM memory data space be split for these instructions and linear for all others. Data space partitioning is achieved in a transparent and flexible manner through dedicating certain working registers to each address space. INTERRUPT OVERVIEW Preliminary For most instructions, three-parameter instructions can be supported, allowing A + B = C operations to be executed in a single cycle. Instruction addressing modes are extremely flexible to meet compiler needs. The working register array consists of 16 x 16-bit registers, each of which can act as data, address or offset registers. One working register (W15) operates as the software Stack Pointer for interrupts and calls. Linear indirect access of all data space is possible, plus the memory direct address range is up to 8 Kbytes. This capability, together with the addition of 16-bit direct address MOV-based instructions, has provided a contiguous linear addressing space. Linear indirect access of 32K word (64 Kbyte) pages within program space is possible, using any working register via new table read and write instructions. Part of data space can be mapped into program space, allowing constant data to be accessed as if it were in data space. (c) 2005 Microchip Technology Inc. dsPIC33F 3.2 Programmer's Model The programmer's model, shown in Figure 3-2, consists of 16 x 16-bit working registers (W0 through W15), 2 x 40-bit accumulators (ACCA and ACCB), Status Register (SR), Data Table Page register (TBLPAG), Program Space Visibility Page register (PSVPAG), DO and REPEAT registers (DOSTART, DOEND, DCOUNT and RCOUNT) and Program Counter (PC). The working registers can act as data, address or offset registers. All registers are memory mapped. W0 is the W register for all instructions that perform file register addressing. Some of these registers have a shadow register associated with them (see the legend in Figure 3-2). The shadow register is used as a temporary holding register and can transfer its contents to or from its host register upon some event occurring in a single cycle. None of the shadow registers are accessible directly. W15 is the dedicated software Stack Pointer (SP). It is automatically modified by exception processing and subroutine calls and returns. However, W15 can be referenced by any instruction in the same manner as all other W registers. This simplifies the reading, writing and manipulation of the Stack Pointer (e.g., creating stack frames). W14 has been dedicated as a Stack Frame Pointer, as defined by the LNK and ULNK instructions. However, W14 can be referenced by any instruction in the same manner as all other W registers. The Stack Pointer always points to the first available free word and grows from lower addresses towards higher addresses. It pre-decrements for stack pops (reads) and post-increments for stack pushes (writes). When a byte operation is performed on a working register, only the Least Significant Byte of the target register is affected. However, a benefit of memory mapped working registers is that both the Least and Most Significant Bytes can be manipulated through byte-wide data memory space accesses. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 9 dsPIC33F FIGURE 3-2: PROGRAMMER'S MODEL 15 Legend: 0 W0/WREG DIV and MUL Result Registers PUSH.S Shadow W1 DO Shadow W2 W3 W4 MAC Operand Registers W5 W6 W7 Working Registers W8 W9 MAC Address Registers W10 W11 W12/MAC Offset W13/MAC Write Back W14/Frame Pointer W15*/Stack Pointer *W15 and SPLIM not shadowed SPLIM* 39 Stack Pointer Limit Register 15 31 0 ACCA DSP Accumulators ACCB 22 0 Program Counter 0 7 TABPAG TBLPAG 7 Data Table Page Address 0 PSVPAG Program Space Visibility Page Address 15 0 RCOUNT REPEAT Loop Counter 15 0 DCOUNT DO Loop Counter 22 0 DOSTART DO Loop Start Address 22 0 DO Loop End Address DOEND 15 0 Core Configuration Register CORCON OA OB SA SB OAB SAB DA SRH DS70155C-page 10 DC IPL2 IPL1 IPL0 RA N OV Z C Status Register SRL Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 3.3 3.3.3 Data Address Space The core has two data spaces, X and Y. These data spaces can be considered either separate (for some DSP instructions), or as one unified linear address range (for MCU instructions). The data spaces are accessed using two Address Generation Units (AGUs) and separate data paths. This feature allows certain instructions to concurrently fetch two words from RAM, thereby enabling efficient execution of DSP algorithms such as Finite Impulse Response (FIR) filtering and Fast Fourier Transform (FFT). 3.3.1 X AND Y DATA SPACES The X data space is used by all instructions and supports all addressing modes. There are separate read and write data buses for X data space. The X read data bus is the read data path for all instructions that view data space as combined X and Y address space. It is also the X data prefetch path for the dual operand DSP instructions (MAC class). The Y data space is used in concert with the X data space by the MAC class of instructions (CLR, ED, EDAC, MAC, MOVSAC, MPY, MPY.N and MSC) to provide two concurrent data read paths. Both the X and Y data spaces support Modulo Addressing for all instructions, subject to addressing mode restrictions. Bit-Reversed Addressing is only supported for writes to X data space. All data memory writes, including in DSP instructions, view data space as combined X and Y address space. The boundary between the X and Y data spaces is device-dependent (an example is shown in Figure 3-3) and is not user-programmable. DATA SPACE WIDTH The core data width is 16 bits. All internal registers are organized as 16-bit wide words. Data space memory is organized in byte addressable, 16-bit wide blocks. Figure 3-3 depicts a sample data space memory map for the dsPIC33F device with 33 Kbytes of RAM. 3.3.4 DATA ALIGNMENT To help maintain backward compatibility with PICmicro(R) devices and improve data space memory usage efficiency, the dsPIC33F instruction set supports both word and byte operations. Data is aligned in data memory and registers as words, but all data space EAs resolve to bytes. Data byte reads will read the complete word which contains the byte, using the Least Significant bit (LSb) of any EA to determine which byte to select. As a consequence of this byte accessibility, all effective address calculations are internally scaled. For example, the core would recognize that Post-Modified Register Indirect Addressing mode, [Ws++], will result in a value of Ws + 1 for byte operations and Ws + 2 for word operations. All word accesses must be aligned to an even address. Misaligned word data fetches are not supported. Should a misaligned read or write be attempted, a trap will then be executed, allowing the system and/or user to examine the machine state prior to execution of the address Fault. All effective addresses are 16 bits wide and point to bytes within the data space. Therefore, the data space address range is 64 Kbytes or 32K words, though the implemented memory locations vary from one device to another. 3.3.2 DMA RAM Every dsPIC33F device contains 2 Kbytes of DMA RAM located at the end of Y data space. Memory locations in the DMA RAM space are accessible simultaneously by the CPU and the DMA Controller module. DMA RAM is utilized by the DMA Controller to store data to be transferred to various peripherals using DMA, as well as data transferred from various peripherals using DMA. When the CPU and the DMA Controller attempt to concurrently write to the same DMA RAM location, the hardware ensures that the CPU is given precedence in accessing the DMA RAM location. Therefore, the DMA RAM provides a reliable means of transferring DMA data without ever having to stall the CPU. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 11 dsPIC33F FIGURE 3-3: SAMPLE DATA SPACE MEMORY MAP Most Significant Byte Address MSB 2-Kbyte SFR Space 0x0001 Least Significant Byte Address 16 Bits LSB SFR Space 0x0000 0x07FE 0x0800 0x07FF 0x0801 8-Kbyte X Data RAM (X) Data Space 0x3FFF 0x4001 0x3FFE 0x4000 Y Data RAM (Y) 0x77FE 0x7800 0x77FF 0x7801 DMA RAM 0x7FFF 0x8001 X Data Unimplemented (X) 0x7FFE 0x8000 Optionally Mapped into Program Memory 0xFFFE 0xFFFF Note: This data memory map is for the largest memory dsPIC33F device. Data memory maps for other devices may vary. DS70155C-page 12 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 3.4 3.4.3 DSP Engine The DSP engine consists of a high-speed, singlecycle, 17-bit x 17-bit multiplier, a barrel shifter and a 40-bit adder/subtractor with two target accumulators, round and saturation logic, all of which enable efficient execution of computationally intensive DSP algorithms. The 17-bit x 17-bit multiplier is also utilized for MCU-based multiply instructions. The DSP engine also has the capability to perform inherent accumulator-to-accumulator operations, which require no additional data. These instructions are ADD, SUB and NEG. This feature greatly simplifies basic arithmetic operations on 32-bit or 40-bit data. A block diagram of the DSP engine is shown in Figure 3-4. 3.4.1 17 x 17-BIT MULTIPLIER The 17 x 17-bit multiplier is capable of signed or unsigned operation. It can suitably scale its output to support either 1.31 fractional (Q31) or 32-bit integer results, thereby diminishing the need to manually post-process multiplication results for fractional data. 3.4.2 SATURATION AND OVERFLOW The adder has an additional saturation block that controls accumulator data saturation, if selected. It uses the result of the adder, the overflow status bits described above and the user-configured control bits to determine when to saturate and to what value to saturate (a 40-bit or a 32-bit value). In addition to adder/subtractor saturation, writes to data space can also be saturated, but without affecting the contents of the source accumulator. The rounding logic performs a conventional (biased) or convergent (unbiased) data rounding function during an accumulator write (store). The Round mode is userselectable. Rounding generates a 16-bit, 1.15 data value, which is passed to the data space write saturation logic. Data space write saturation ensures that the data in the accumulator is written back accurately even when rounding is performed. If rounding is not indicated by the instruction, a truncated 1.15 data value is stored and the least significant word is simply discarded. 40-BIT ACCUMULATORS The data accumulators have a 40-bit adder/subtractor with automatic sign extension logic. It can select one of two accumulators (A or B) as its pre-accumulation source and post-accumulation destination. For the ADD and LAC instructions, the data to be accumulated or loaded can be optionally scaled via the barrel shifter prior to accumulation. The adder/subtractor generates overflow status bits, SA/SB and OA/OB, which are latched and reflected in the Status register and can also optionally generate an arithmetic error trap: * Overflow from bit 39. This is a catastrophic overflow in which the sign of the accumulator is destroyed. * Overflow into guard bits 32 through 39. This is a recoverable overflow. This bit (OA/OB) is set whenever all the guard bits are not identical to each other. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 13 dsPIC33F FIGURE 3-4: DSP ENGINE BLOCK DIAGRAM 40 S a 40 Round t 16 u Logic r a t e 40-bit Accumulator A 40-bit Accumulator B Saturate Adder Enable Negate 40 40 40 Barrel Shifter 16 X Data Bus 40 Y Data Bus Sign-Extend 32 16 Zero Backfill 32 33 17-bit Multiplier/Scaler Operand Latches 16 16 To/From W Array DS70155C-page 14 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 4.0 DIRECT MEMORY ACCESS * Indirect addressing of DMA RAM locations with or without automatic post-increment * Peripheral Indirect Addressing - In some peripherals, the DMA RAM read/write addresses may be partially derived from the peripheral * One-Shot Block Transfers - Terminating DMA transfer after one block transfer * Continuous Block Transfers - Reloading DMA RAM buffer start address after every block transfer is complete * Ping-Pong Mode - Switching between two DMA RAM start addresses between successive block transfers, thereby filling two buffers alternately * Automatic or manual initiation of block transfers * Each channel can select from 32 possible sources of data sources or destinations Direct Memory Access (DMA) is a very efficient mechanism of copying data between peripheral SFRs (e.g., UART Receive register, Input Capture 1 buffer) and buffers or variables stored in RAM with minimal CPU intervention. The DMA Controller can automatically copy entire blocks of data, without the user software having to read or write peripheral Special Function Registers (SFRs) every time a peripheral interrupt occurs. To exploit the DMA capability, the corresponding user buffers or variables must be located in DMA RAM space. The DMA Controller features eight identical data transfer channels, each with its own set of control and status registers. The UART, SPI, DCI, Input Capture, Output Compare, ECANTM and A/D modules can utilize DMA. Each DMA channel can be configured to copy data either from buffers stored in DMA RAM to peripheral SFRs or from peripheral SFRs to buffers in DMA RAM. For each DMA channel, a DMA interrupt request is generated when a block transfer is complete. Alternatively, an interrupt can be generated when half of the block has been filled. Additionally, a DMA error trap is generated in either of the following Fault conditions: Each channel supports the following features: * DMA RAM data write collision between the CPU and a peripheral * Peripheral SFR data write collision between the CPU and the DMA Controller * Word or byte-sized data transfers * Transfers from peripheral to DMA RAM or DMA RAM to peripheral FIGURE 4-1: TOP LEVEL SYSTEM ARCHITECTURE USING A DEDICATED TRANSACTION BUS Peripheral Indirect Address DMA Control DMA Controller DMA RAM SRAM PORT 1 SRAM X-Bus DMA Ready Peripheral 3 DMA Channels PORT 2 CPU DMA DMA DS Bus CPU Peripheral DS Bus CPU CPU Non-DMA Ready Peripheral DMA DMA Ready Peripheral 1 CPU DMA DMA Ready Peripheral 2 Note: CPU and DMA address buses are not shown for clarity. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 15 dsPIC33F 5.0 EXCEPTION PROCESSING The dsPIC33F has four processor exceptions (traps) and up to 67 sources of interrupts, which must be arbitrated based on a priority scheme. The processor core is responsible for reading the Interrupt Vector Table (IVT) and transferring the address contained in the interrupt vector to the program counter. Each individual interrupt source has its own vector address and can be individually enabled and prioritized in user software. Each interrupt source also has its own status flag. This independent control and monitoring of the interrupt eliminates the need to poll various status flags to determine the interrupt source Table 5-1 contains information about the interrupt vector. The Interrupt Vector Table (IVT) and Alternate Interrupt Vector Table (AIVT) are placed near the beginning of program memory (0x000004) for ease of debugging. Certain interrupts have specialized control bits for features like edge or level triggered interrupts, interrupton-change, etc. Control of these features remains within the peripheral module, which generates the interrupt. The interrupt controller hardware pre-processes the interrupts before they are presented to the CPU. The interrupts and traps are enabled, prioritized and controlled using centralized Special Function Registers. The special DISI instruction can be used to disable the processing of interrupts of priorities 6 and lower for a certain number of instruction cycles, during which the DISI bit remains set. TABLE 5-1: INTERRUPT VECTORS Vector Number IVT Address AIVT Address 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0x000014 0x000016 0x000018 0x00001A 0x00001C 0x00001E 0x000020 0x000022 0x000024 0x000026 0x000028 0x00002A 0x00002C 0x00002E 0x000030 0x000032 0x000034 0x000036 0x000038 0x00003A 0x00003C 0x00003E 0x000040 0x000042 0x000044 0x000046 0x000048 0x00004A 0x00004C 0x00004E 0x000050 0x000052 0x000114 0x000116 0x000118 0x00011A 0x00011C 0x00011E 0x000120 0x000122 0x000124 0x000126 0x000128 0x00012A 0x00012C 0x00012E 0x000130 0x000132 0x000134 0x000136 0x000138 0x00013A 0x00013C 0x00013E 0x000140 0x000142 0x000144 0x000146 0x000148 0x00014A 0x00014C 0x00014E 0x000150 0x000152 DS70155C-page 16 Interrupt Source INT0 - External Interrupt 0 IC1 - Input Compare 1 OC1 - Output Compare 1 T1 - Timer1 DMA0 - DMA Channel 0 IC2 - Input Capture 2 OC2 - Output Compare 2 T2 - Timer2 T3 - Timer3 SPI1E - SPI1 Error SPI1D - SPI1 Transfer Done U1RX - UART1 Receiver U1TX - UART1 Transmitter ADC1 - A/D Converter 1 DMA1 - DMA Channel 1 Reserved I2C1D - I2C1 Transfer Done I2C1E - I2C1 Bus Collision Error Reserved Change Notification Interrupt INT1 - External Interrupt 1 ADC2 - A/D Converter 2 IC7 - Input Capture 7 IC8 - Input Capture 8 DMA2 - DMA Channel 2 OC3 - Output Compare 3 OC4 - Output Compare 4 T4 - Timer4 T5 - Timer5 INT2 - External Interrupt 2 U2RX - UART2 Receiver U2TX - UART2 Transmitter Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 5-1: INTERRUPT VECTORS (CONTINUED) Vector Number IVT Address AIVT Address 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 0x000054 0x000056 0x000058 0x00005A 0x00005C 0x00005E 0x000060 0x000062 0x000064 0x000066 0x000068 0x00006A 0x00006C 0x00006E 0x000070 0x000072 0x000074 0x000076 0x000078 0x00007A 0x00007C 0x00007E 0x000080 0x000082 0x000084 0x000086 0x000088 0x00008A 0x00008C 0x00008E 0x000090 0x000092 0x000094 0x000096 0x000098 0x00009A 0x00009C 0x00009E 0x0000A0 0x000154 0x000156 0x000158 0x00015A 0x00015C 0x00015E 0x000160 0x000162 0x000164 0x000166 0x000168 0x00016A 0x00016C 0x00016E 0x000170 0x000172 0x000174 0x000176 0x000178 0x00017A 0x00017C 0x00017E 0x000180 0x000182 0x000184 0x000186 0x000188 0x00018A 0x00018C 0x00018E 0x000190 0x000192 0x000194 0x000196 0x000198 0x00019A 0x00019C 0x00019E 0x0001A0 79 0x0000A2 0x0001A2 80-125 0x0000A40x0000FE 0x0001A40x0001FE (c) 2005 Microchip Technology Inc. Interrupt Source SPI2E - SPI2 Error SPI1D - SPI1 Transfer Done C1RX - ECAN1 Receive Data Ready C1 - CAN1 Event DMA3 - DMA Channel 3 IC3 - Input Capture 3 IC4 - Input Capture 4 IC5 - Input Capture 5 IC6 - Input Capture 6 OC5 - Output Compare 5 OC6 - Output Compare 6 OC7 - Output Compare 7 OC8 - Output Compare 8 Reserved DMA4 - DMA Channel 4 T6 - Timer6 T7 - Timer7 I2C2D - I2C2 Transfer Done I2C2E - I2C2 Bus Collision Error T8 - Timer8 T9 - Timer9 INT3 - External Interrupt 3 INT4 - External Interrupt 4 C2RX - ECAN2 Receive Data Ready C2 - CAN2 Event PWM - PWM Period Match QEI - Position Counter Compare DCIE - DCI Error DCID - DCI Transfer Done DMA5 - DMA Channel 5 RTC - Real-Time Clock FLTA - MCPWM Fault A FLTB - MCPWM Fault B U1E - UART1 Error U2E - UART2 Error Reserved DMA6 - DMA Channel 6 DMA7 - DMA Channel 7 C1TX - ECAN1 Transmit Data Request Reserved (for devices marked "PS") C2TX - ECAN2 Transmit Data Request Reserved (for devices marked "PS") Reserved Preliminary DS70155C-page 17 dsPIC33F 5.1 Interrupt Priority 5.3 Each interrupt source can be user-assigned to one of 8 priority levels, 0 through 7. Levels 7 and 1 represent the highest and lowest maskable priorities, respectively. A priority level of 0 disables the interrupt. Since more than one interrupt request source may be assigned to a user-specified priority level, a means is provided to assign priority within a given level. This method is called "Natural Order Priority". The Natural Order Priority of an interrupt is numerically identical to its vector number. The Natural Order Priority scheme has 0 as the highest priority and 74 as the lowest priority. The ability for the user to assign every interrupt to one of eight priority levels implies that the user can assign a very high overall priority level to an interrupt with a low Natural Order Priority, thereby providing much flexibility in designing applications that use a large number of peripherals. 5.2 Interrupt Nesting Interrupts, by default, are nestable. Any ISR that is in progress may be interrupted by another source of interrupt with a higher user-assigned priority level. Interrupt nesting may be optionally disabled by setting the NSTDIS control bit (INTCON1<15>). When the NSTDIS control bit is set, all interrupts in progress will force the CPU priority to level 7 by setting IPL<2:0> = 111. This action will effectively mask all other sources of interrupt until a RETFIE instruction is executed. When interrupt nesting is disabled, the user-assigned interrupt priority levels will have no effect, except to resolve conflicts between simultaneous pending interrupts. The IPL<2:0> bits become read-only when interrupt nesting is disabled. This prevents the user software from setting IPL<2:0> to a lower value, which would effectively re-enable interrupt nesting. TABLE 5-2: Traps Traps can be considered as non-maskable, nestable interrupts that adhere to a fixed priority structure. Traps are intended to provide the user a means to correct erroneous operation during debug and when operating within the application. If the user does not intend to take corrective action in the event of a trap error condition, these vectors must be loaded with the address of a software routine that will reset the device. Otherwise, the trap vector is programmed with the address of a service routine that will correct the trap condition. The dsPIC33F has four implemented sources of non-maskable traps: * * * * * Oscillator Failure Trap Address Error Trap Stack Error Trap Math Error Trap DMA Trap Many of these trap conditions can only be detected when they happen. Consequently, the instruction that caused the trap is allowed to complete before exception processing begins. Therefore, the user may have to correct the action of the instruction that caused the trap. Each trap source has a fixed priority as defined by its position in the IVT. An oscillator failure trap has the highest priority, while an arithmetic error trap has the lowest priority. Table 5-2 contains information about the trap vector. 5.4 Generating a Software Interrupt Any available interrupt can be manually generated by user software (even if the corresponding peripheral is disabled), simply by enabling the interrupt and then setting the interrupt flag bit when required. TRAP VECTORS Vector Number IVT Address AIVT Address Trap Source 0 0x000004 0x000084 1 0x000006 0x000086 Oscillator Failure 2 0x000008 0x000088 Address Error Reserved 3 0x00000A 0x00008A Stack Error 4 0x00000C 0x00008C Math Error 5 0x00000E 0x00008E DMA Error Trap 6 0x000010 0x000090 Reserved 7 0x000012 0x000092 Reserved DS70155C-page 18 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 6.0 SYSTEM INTEGRATION System management services provided by the dsPIC33F device family include: * * * * * * Control of clock options and oscillators Power-on Reset Oscillator Start-up Timer/Stabilizer Watchdog Timer with RC oscillator Fail-Safe Clock Monitor Reset by multiple sources 6.1 Clock Options and Oscillators There are 7 clock options provided by the dsPIC33F: * * * * * * FRC Oscillator FRC Oscillator with PLL Primary (XT, HS or EC) Oscillator Primary Oscillator with PLL Secondary (LP) Oscillator LPRC Oscillator The primary oscillator can use one of the following as its clock source: 2. 3. The output of the oscillator (or the output of the PLL if a PLL mode has been selected) is divided by 4 to generate the device instruction clock (FCY). FCY defines the operating speed of the device, and speeds up to 40 MHz are supported by the dsPIC33F architecture. The dsPIC33F oscillator system provides: The FRC (Fast RC) internal oscillator runs at a nominal frequency of 7.37 MHz. The user software can tune the FRC frequency. User software can specify a factor by which this clock frequency is scaled. 1. The clock signals generated by the FRC and primary oscillators can be optionally applied to an on-chip Phase Locked Loop (PLL) to provide a wide range of output frequencies for device operation. The input to the PLL can be in the range of 1.6 MHz to 16 MHz, and the PLL Phase Detector Input Divider, PLL Multiplier Ratio and PLL Voltage Controlled Oscillator (VCO) can be individually configured by user software to generate output frequencies in the range of 25 MHz to 160 MHz. XT (Crystal): Crystals and ceramic resonators in the range of 3 MHz to 10 MHz. The crystal is connected to the OSC1 and OSC2 pins. HS (High-Speed Crystal): Crystals in the range of 10 MHz to 40 MHz. The crystal is connected to the OSC1 and OSC2 pins. EC (External Clock): External clock signal in the range of 0.8 MHz to 64 MHz. The external clock signal is directly applied to the OSC1 pin. * Various external and internal oscillator options as clock sources * An on-chip PLL to scale the internal operating frequency to the required system clock frequency * The internal FRC oscillator can also be used with the PLL, thereby allowing full-speed operation without any external clock generation hardware * Clock switching between various clock sources * Programmable clock postscaler for system power savings * A Fail-Safe Clock Monitor (FSCM) that detects clock failure and takes fail-safe measures * A Clock Control register (OSCCON) * Nonvolatile configuration bits for main oscillator selection. A simplified block diagram of the oscillator system is shown in Figure 6-1. The secondary (LP) oscillator is designed for low power and uses a 32 kHz crystal or ceramic resonator. The LP oscillator uses the SOSCI and SOSCO pins. The LPRC (Low-Power RC) internal oscIllator runs at a nominal frequency of 32.768 kHz. Another scaled reference clock is used by the Watchdog Timer (WDT) and Fail-Safe Clock Monitor (FSCM). (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 19 dsPIC33F FIGURE 6-1: OSC1 OSC2 OSCILLATOR SYSTEM BLOCK DIAGRAM Primary Oscillator PLL Module Primary Osc Internal Fast RC (FRC) Oscillator Secondary Osc SOSCO SOSCI Secondary Oscillator 32 kHz Clock Switching and Control Block FOSC FCY Divide by 4 Internal Low-Power RC (LPRC) Oscillator To Timer1 6.2 Power-on Reset 6.4 When a supply voltage is applied to the device, a Power-on Reset is generated. A new Power-on Reset event is generated if the supply voltage falls below the device threshold voltage (VPOR). An internal POR pulse is generated when the rising supply voltage crosses the POR circuit threshold voltage. 6.3 Oscillator Start-up Timer/Stabilizer (OST) An Oscillator Start-up Timer (OST) is included to ensure that a crystal oscillator (or ceramic resonator) has started and stabilized. The OST is a simple, 10-bit counter that counts 1024 TOSC cycles before releasing the oscillator clock to the rest of the system. The timeout period is designated as TOST. The TOST time is involved every time the oscillator has to restart (i.e., on Power-on Reset (POR) and wake-up from Sleep). The Oscillator Start-up Timer is applied to the LP oscillator, XT and HS modes (upon wake-up from Sleep, POR and BOR) for the primary oscillator. DS70155C-page 20 Watchdog Timer (WDT) The primary function of the Watchdog Timer (WDT) is to reset the processor in the event of a software malfunction. The WDT is a free-running timer that runs off the on-chip LPRC oscillator, requiring no external component. The WDT continues to operate even if the main processor clock (e.g., the crystal oscillator) fails. The Watchdog Timer can be "Enabled" or "Disabled" either through a configuration bit (FWDTEN) in the Configuration register, or through an SFR bit (SWDTEN). Any device programmer capable of programming dsPIC(R) DSC devices (such as Microchip's MPLAB(R) PM3 Programmer) allows programming of this and other configuration bits to the desired state. If enabled, the WDT increments until it overflows or "times out". A WDT time-out forces a device Reset (except during Sleep). Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 6.5 Fail-Safe Clock Monitor (FSCM) 6.6 The Fail-Safe Clock Monitor (FSCM) allows the device to continue to operate even in the event of an oscillator failure. The FSCM function is enabled by programming. If the FSCM function is enabled, the LPRC internal oscillator runs at all times (except during Sleep mode) and is not subject to control by the Watchdog Timer. In the event of an oscillator failure, the FSCM generates a clock failure trap event and switches the system clock over to the FRC oscillator. The application program then can either attempt to restart the oscillator, or execute a controlled shutdown. The trap can be treated as a warm Reset by simply loading the Reset address into the oscillator fail trap vector. (c) 2005 Microchip Technology Inc. Reset System The Reset system combines all Reset sources and controls the device Master Reset signal. Device Reset sources include: * * * * * * * POR: Power-on Reset BOR: Brown-out Reset SWR: RESET Instruction EXTR: MCLR Reset WDTR: Watchdog Timer Time-out Reset TRAPR: Trap Conflict IOPUWR: Attempted execution of an Illegal Opcode, or Indirect Addressing, using an Uninitialized W register Preliminary DS70155C-page 21 dsPIC33F 7.0 DEVICE POWER MANAGEMENT Power management services dsPIC33F devices include: provided by the * Real-Time Clock Source Switching * Power-Saving Modes The processor exits (wakes up) from Sleep on one of these events: * Any interrupt source that is individually enabled * Any form of device Reset * A WDT time-out 7.2.2 7.1 Real-Time Clock Source Switching Configuration bits determine the clock source upon Power-on Reset (POR) and Brown-out Reset (BOR). Thereafter, the clock source can be changed between permissible clock sources. The OSCCON register controls the clock switching and reflects system clock related status bits. To reduce power consumption, the user can switch to a slower clock source. 7.2 Power-Saving Modes The dsPIC33F devices have two reduced power modes that can be entered through execution of the PWRSAV instruction. * Sleep Mode: The CPU, system clock source and any peripherals that operate on the system clock source are disabled. This is the lowest power mode of the device. * Idle Mode: The CPU is disabled but the system clock source continues to operate. Peripherals continue to operate but can optionally be disabled. * Doze Mode: The CPU clock is temporarily slowed down relative to the peripheral clock by a user-selectable factor. These modes provide an effective way to reduce power consumption during periods when the CPU is not in use. 7.2.1 SLEEP MODE When the device enters Sleep mode: * System clock source is shut down. If an on-chip oscillator is used, it is turned off. * Device current consumption is at minimum provided that no I/O pin is sourcing current. * Fail-Safe Clock Monitor (FSCM) does not operate during Sleep mode because the system clock source is disabled. * LPRC clock continues to run in Sleep mode if the WDT is enabled. * BOR circuit, if enabled, remains operative during Sleep mode * WDT, if enabled, is automatically cleared prior to entering Sleep mode. * Some peripherals may continue to operate in Sleep mode. These peripherals include I/O pins that detect a change in the input signal, or peripherals that use an external clock input. Any peripheral that is operating on the system clock source is disabled in Sleep mode. DS70155C-page 22 Preliminary IDLE MODE When the device enters Idle mode: * * * * CPU stops executing instructions WDT is automatically cleared System clock source remains active Peripheral modules, by default, continue to operate normally from the system clock source * Peripherals, optionally, can be shut down in Idle mode using their `stop-in-idle' control bit. * If the WDT or FSCM is enabled, the LPRC also remains active The processor wakes from Idle mode on these events: * Any interrupt that is individually enabled * Any source of device Reset * A WDT time-out Upon wake-up from Idle, the clock is re-applied to the CPU and instruction execution begins immediately starting with the instruction following the PWRSAV instruction, or the first instruction in the Interrupt Service Routine (ISR). 7.2.3 DOZE MODE The Doze mode provides the user software the ability to temporarily reduce the processor instruction cycle frequency relative to the peripheral frequency. Clock frequency ratios of 1:1, 1:2, 1:4, 1:8, 1:16, 1:32, 1:64 and 1:128 are supported. For example, suppose the device is operating at 20 MIPS and the CAN module has been configured for 500 kbps bit rate based on this device operating speed. If the device is now placed in Doze mode with a clock frequency ratio of 1:4, the CAN module will continue to communicate at the required bit rate of 500 kbps, but the CPU now starts executing instructions at a frequency of 5 MIPS. This feature further reduces the power consumption during periods where relatively less CPU activity is required. When the device is operating in Doze mode, the hardware ensures that there is no loss of synchronization between peripheral events and SFR accesses by the CPU. (c) 2005 Microchip Technology Inc. dsPIC33F 8.0 dsPIC33F PERIPHERALS The Digital Signal Controller (DSC) family of 16-bit DSC devices provides the integrated functionality of many peripherals. Specific peripheral functions include: * Analog-to-Digital Converters - 10-bit High-Speed A/D Converter - 12-bit High-Resolution A/D Converter * General Purpose 16-Bit Timers * Motor Control PWM module * Quadrature Encoder Interface module * Input Capture module * Output Compare/PWM module * Data Converter Interface * Serial Peripheral Interface (SPITM) module * UART module * I2CTM module * Controller Area Network (CAN) module * I/O pins 8.1 8.2 Analog-to-Digital Converters The Analog-to-Digital (A/D) Converters provide up to 32 analog inputs with both single-ended and differential inputs. These modules offer on-board sample and hold circuitry. To minimize control loop errors due to finite update times (conversion plus computations), a high-speed low-latency ADC is required. In addition, several hardware features have been included in the peripheral interface to improve real-time performance in a typical DSP-based application. * * * * * General Purpose Timer Modules The General Purpose (GP) timer modules provide the time base elements for input capture and output compare/PWM. They can be configured for Real-Time Clock operation as well as various timer/counter modes. The timer modes count pulses of the internal time base, whereas counter modes count external pulses that appear on the timer clock pin. The dsPIC33F device supports up to nine 16-bit timers (Timer1 through Timer9). Eight of the 16-bit timers can be configured as four 32-bit timers (Timer2/3, Timer4/5, Timer6/7 and Timer8/9). Each timer has several selectable operating modes. 8.2.1 TIMER1 The Timer1 module (Figure 8-1) is a 16-bit timer that can serve as the time counter for an asynchronous RealTime Clock, or operate as a free-running interval timer/ counter. The 16-bit timer has the following modes: Result alignment options Automated sampling Automated channel scanning Dual port data buffer External conversion start control The A/D Converter is available in either of the following configurations: * 10-bit, 1.1 Msps A/D module: - 2.2 Msps A/D conversion using 2 channels * 12-bit, 500 ksps A/D module: - 1 Msps A/D conversion using 2 channels * 1 LSB max Integral Nonlinearity (INL) (3.3V 10%) * Up to 4 on-chip sample and hold amplifiers in each A/D - Enables simultaneous sampling of 2, 4 or 8 analog inputs * Automated channel scanning * Single-supply operation: 3.0-3.6V * 2.2 Msps or 1 Msps sampling rate at 3.0V * Ability to convert during CPU Sleep and Idle modes * Conversion start can be manual or synchronized with 1 of 4 trigger sources (automatic, Timer3, external interrupt, PWM period match) * A/D can use DMA for buffer storage * Lower and upper half of buffer can be filled on alternate conversions * 16-Bit Timer * 16-Bit Synchronous Counter * 16-Bit Asynchronous Counter Further, the following operational characteristics are supported: Key features of the A/D module include: * * * * * * * * Timer1, when operating in Real-Time Clock (RTC) mode, provides time of day and event time-stamping capabilities. Key operational features of the RTC are: 10-bit or 12-bit resolution Unipolar differential sample/hold amplifiers Up to 32 input channels Selectable voltage reference sources - External VREF+ and VREF- pins available * 1 LSB max Differential Nonlinearity (DNL) (3.3V 10%) (c) 2005 Microchip Technology Inc. * * * * Timer gated by external pulse Selectable prescaler settings Timer operation during CPU Idle and Sleep modes Interrupt on 16-Bit Period register match or falling edge of external gate signal Operation from 32 kHz LP oscillator 8-bit prescaler Low power Real-Time Clock interrupts Preliminary DS70155C-page 23 dsPIC33F FIGURE 8-1: 16-BIT TIMER1 MODULE BLOCK DIAGRAM PR1 Equal Comparator x 16 TSYNC 1 Reset Sync TMR1 0 0 T1IF Event Flag 1 Q D Q CK TGATE TCS TGATE TGATE TON SOSCO/ T1CK TCKPS<1:0> 2 1x LPOSCEN Gate Sync 01 TCY 00 Prescaler 1, 8, 64, 256 SOSCI 8.2.2 TIMER2/3 8.2.3 The Timer2/3 module is a 32-bit timer (which can be configured as two 16-bit timers) with selectable operating modes. These timers are used by other peripheral modules, such as: * Input Capture * Output Compare/Simple PWM Timer2/3 has the following modes: * Two independent 16-bit timers (Timer2 and Timer3) with Timer and Synchronous Counter modes * Single 32-Bit Timer * Single 32-Bit Synchronous Counter * * * * ADC conversion start trigger 32-bit timer gated by external pulse Selectable prescaler settings Timer counter operation during Idle and Sleep modes * Interrupt on a 32-Bit Period register match * Timer2/3 can use DMA for buffer storage DS70155C-page 24 The Timer4/5, Timer6/7 and Timer8/9 modules are similar in operation to the Timer2/3 module. Differences include: * These modules do not support the ADC event trigger feature * These modules can not be used by other peripheral modules, such as input capture and output compare 8.3 Further, the following operational characteristics are supported: TIMER4/5, TIMER6/7, TIMER8/9 Motor Control PWM Module The Motor Control PWM (MCPWM) module simplifies the task of generating multiple, synchronized pulsewidth modulated outputs. In particular, the following power and motion control applications are supported: * * * * Three-Phase AC Induction Motor Switched Reluctance (SR) Motor Brushless DC (BLDC) Motor Uninterrupted Power Supply (UPS) Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F The PWM module has the following features: 8.3.1 * Dedicated time base supports TCY/2 PWM edge resolution * Two output pins (pair) for each PWM generator * Complementary or independent operation for each output pin pair * Hardware dead-time generators for Complementary mode * Output pin polarity defined by nonvolatile device configuration bits * Multiple output modes: - Edge-Aligned mode - Center-Aligned mode - Center-Aligned mode with double updates - Single Event mode * Manual override register for PWM output pins * Hardware Fault input pins with programmable function * Trigger for synchronizing A/D samples and conversions to PWM timing * Each output pin associated with the PWM can be individually enabled The PWM time base is provided by a 15-bit timer with a prescaler and postscaler. The PWM time base can be configured for four different modes of operation: TABLE 8-1: * * * * PWM TIME BASE Free-Running mode Single-Shot mode Continuous Up/Down Count mode Continuous Up/Down Count mode with interrupts for double updates The Up/Down Counting modes support center-aligned PWM generation. The Single-Shot mode allows the PWM module to support pulse control of certain Electronically Commutated Motors (ECMs). Table 8-1 lists the frequencies and resolutions that can be attained as a function of the dsPIC33F device instruction cycle frequency. EXAMPLE PWM FREQUENCIES AND RESOLUTIONS, 1:1 PRESCALER TCY (FCY) PTPER Value PWM Resolution PWM Frequency* 25 ns (40 MHz) 0x7FFF 16 bits 1220 Hz 25 ns (40 MHz) 0x03FF 11 bits 39.1 kHz 50 ns (20 MHz) 0x7FFF 16 bits 610 Hz 50 ns (20 MHz) 0x01FF 10 bits 39.1 kHz 100 ns (10 MHz) 0x7FFF 16 bits 305 Hz 100 ns (10 MHz) 0x00FF 9 bits 39.1 kHz 200 ns (5 MHz) 0x7FFF 16 bits 153 Hz 200 ns (5 MHz) 0x007F 8 bits 39.1 kHz * PWM frequencies will be 1/2 the value indicated for center-aligned operation. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 25 dsPIC33F FIGURE 8-2: 8-OUTPUT PWM MODULE BLOCK DIAGRAM PWMCON1 PWM Enable and Mode SFRs PWMCON2 DTCON1 Dead-Time Control SFRs DTCON2 FLTACON Fault Pin Control SFRs FLTBCON OVDCON PWM Manual Control SFR PWM Generator #4 16-Bit Data Bus PDC4 Buffer PDC4 Comparator PWM Generator #3 PTMR Channel 4 Dead-Time Generator and Override Logic PWM4H Channel 3 Dead-Time Generator and Override Logic PWM3H Comparator PWM Generator #2 PTPER PWM Generator #1 PTPER Buffer PWM4L Output Driver Block PWM3L Channel 2 Dead-Time Generator and Override Logic PWM2H Channel 1 Dead-Time Generator and Override Logic PWM1H PWM2L PWM1L FLTA PTCON FLTB Comparator SEVTDIR SEVTCMP Special Event Postscaler Special Event Trigger PTDIR PWM Time Base Note: Details of PWM Generator #1, #2 and #3 are not shown for clarity. DS70155C-page 26 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 8.4 Quadrature Encoder Interface (QEI) Module increment when the shaft is rotating one direction and decrement when the shaft is rotating in the other direction. Quadrature encoders (also referred to as incremental encoders or optical encoders) are used in position and speed detection of rotating motion systems. Quadrature encoders enable closed-loop control of many motor control applications, such as Switched Reluctance (SR) Motor and AC Induction Motor (ACIM). The QEI module (Figure 8-3) includes: * Three input pins for two phase signals and index pulse * Programmable digital noise filters on inputs * Quadrature decoder providing counter pulses and count direction * 16-bit up/down position counter * Count direction status * x2 and x4 count resolution * Two modes of Position Counter Reset * General Purpose16-Bit Timer/Counter mode * Interrupts generated by QEI or counter events Typically, three outputs termed, Phase A, Phase B and INDEX, provide information that can be decoded to provide information on the movement of the motor shaft, including distance and direction. A quadrature decoder captures the phase signals and index pulse and converts the information into a numeric count of the position pulses. Generally, the count will FIGURE 8-3: QUADRATURE ENCODER INTERFACE BLOCK DIAGRAM TQCKPS<1:0> Sleep Input TQCS TCY Synchronize Det 2 0 Prescaler 1, 8, 64, 256 1 1 QEIM<2:0> 0 D TQGATE CK QEA Programmable Digital Filter UPDN_SRC 0 QEICON<11> 2 QEB Programmable Digital Filter INDX Programmable Digital Filter Q 16-Bit Up/Down Counter (POSCNT) Quadrature Encoder Interface Logic Reset Comparator/ Zero Detect Equal 3 QEIM<2:0> Mode Select 1 QEIIF Event Flag Q Max Count Register (MAXCNT) 3 PCDOUT 0 UPDN 1 Existing Pin Logic Up/Down (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 27 dsPIC33F 8.5 Input Capture Module The input capture module is useful in applications requiring frequency (period) and pulse measurement. The dsPIC33F devices support up to eight input capture channels. The input capture module captures the 16-bit value of the selected time base register when an event occurs at the ICx pin. The events that cause a capture event are listed below in three categories: 1. 2. 3. Simple Capture Event modes - Capture timer value on every falling edge of input at ICx pin - Capture timer value on every rising edge of input at ICx pin Capture timer value on every edge (rising and falling) Prescaler Capture Event modes - Capture timer value on every 4th rising edge of input at ICx pin - Capture timer value on every 16th rising edge of input at ICx pin Each input capture channel can select between one of two 16-bit timers (Timer2 or Timer3) for the time base. The selected timer can use either an internal or an external clock. Other operational features include: The dsPIC33F device may have up to eight output compare channels, designated OC1 through OC8. Refer to the specific device data sheet for the number of channels available in a particular device. All output compare channels are functionally identical. Each output compare channel can use one of two selectable time bases. The time base is selected using the OCTSEL bit (OCxCON<3>). An `x' in the pin, register or bit name denotes the specific output compare channel. Refer to the device data sheet for the specific timers that can be used with each output compare channel number. Each output compare module has the following modes of operation: * Single Compare Match mode * Dual Compare Match mode generating - Single Output Pulse - Continuous Output Pulses * Simple Pulse-Width Modulation mode - With Fault Protection Input - Without Fault Protection Input Output compare channels, OC1 and OC2, support DMA data transfers. 8.7 Data Converter Interface Module The dsPIC33F Data Converter Interface (DCI) module allows simple interfacing to devices such as audio coder/decoders (codecs), A/D Converters and D/A Converters. * Device wake-up from capture pin during CPU Sleep and Idle modes * Interrupt on input capture event * 4-word FIFO buffer for capture values - Interrupt optionally generated after 1, 2, 3 or 4 buffer locations are filled * Input capture can also be used to provide additional sources of external interrupts. The following interfaces are supported: * Framed Synchronous Serial Transfer (Single or Multi-Channel) * Inter-IC Sound (I2S) Interface * AC-Link (AC'97) Compliant mode Input capture channels IC1 and IC2 support DMA data transfers. The output compare module features are quite useful in applications that require controlled timing pulses or PWM modulated pulse streams. Many codecs intended for use in audio applications support sampling rates between 8 kHz and 48 kHz and use one of the interface protocols listed above. The DCI automatically handles the interface timing associated with these codecs. No overhead from the CPU is required until the requested amount of data has been transmitted and/or received by the DCI. Up to four data words can be transferred between CPU interrupts. The output compare module has the ability to compare the value of a selected time base with the value of one or two compare registers (depending on the operation mode selected). Furthermore, it has the ability to generate a single output pulse, or a repetitive sequence of output pulses, on a compare match event. Like most dsPIC33F peripherals, it also has the ability to generate interrupts on compare match events. The data word length for the DCI is programmable up to 16 bits to match the data size of the dsPIC33F CPU. However, many codecs have data word sizes greater than 16 bits. Long data word lengths can be supported by the DCI. The DCI is configured to transmit/receive the long word in multiple 16-bit time slots. This operation is transparent to the user and the long data word is stored in consecutive register locations. 8.6 Output Compare/PWM Module DS70155C-page 28 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Figure 8-4 is a block diagram of the DCI module. The DCI can support up to 16 time slots in a data frame for a maximum frame size of 256 bits. There are control FIGURE 8-4: bits for each time slot in the data frame that determine whether the DCI will transmit/receive during the time slot. The DCI module supports DMA data transfers. DCI MODULE BLOCK DIAGRAM BCG Control Bits CSCKD Sample Rate Generator FOSC/4 CSCK COFSD Word Size Selection bits Frame Synchronization Generator 16-Bit Data Bus Frame Length Selection bits DCI Mode Selection bits COFS Receive Buffer Registers w/Shadow DCI Buffer Control Unit 15 Transmit Buffer Registers w/Shadow 0 DCI Shift Register CSDI CSDO 8.8 SPITM Module The Serial Peripheral Interface (SPI) module is a synchronous serial interface for communicating with other peripheral or microcontroller devices such as serial EEPROMs, shift registers, display drivers, A/D Converters, etc. It is compatible with Motorola(R) SPI and SIOP interfaces. This SPI module includes all SPI modes. A Frame Synchronization mode is also included for support of voice band codecs. A series of 8 or 16 clock pulses (depending on mode) shift out the 8 or 16 bits (depending on whether a byte or word is being transferred) and simultaneously shift in 8 or 16 bits of data from the SDI pin. An interrupt is generated when the transfer is complete. Slave select synchronization allows selective enabling of SPI slave devices, which is particularly useful when a single master is connected to multiple slaves. The SPI1 and SPI2 modules support DMA data transfers. Four pins make up the serial interface: SDI, Serial Data Input; SDO, Serial Data Output; SCK, Shift Clock Input or Output; SS, Active-Low Slave Select, which also serves as the FSYNC (Frame Synchronization Pulse). A device set up as an SPI master provides the serial communication clock signal on its SCK pin. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 29 dsPIC33F 8.9 UART Module The UART is a full-duplex asynchronous system that can communicate with peripheral devices, such as personal computers, RS-232 and RS-485 interfaces. The dsPIC33F devices have one or more UARTs. The key features of the UART module are: * * * * * * * * * * * * * Full-duplex operation with 8 or 9-bit data Even, odd or no parity options (for 8-bit data) One or two Stop bits Fully integrated Baud Rate Generator (BRG) with 16-bit prescaler Baud rates range from up to 10 Mbps and down to 38 Hz at 40 MIPS 4-character deep transmit data buffer 4-character deep receive data buffer Parity, framing and buffer overrun error detection Full IrDA(R) support, including hardware encoding and decoding of IrDA(R) messages LIN bus support - Auto wake-up from Sleep or Idle mode on Start bit detect - Auto-baud detection - Break character support Support for interrupt on address detect (9th bit = 1) Separate transmit and receive interrupts - On transmission of 1 or 4 characters - On reception of 1, 3 and 4 characters Loopback mode for diagnostics The UART1 and UART2 modules support DMA data transfers. 8.10 I2CTM Module The I2C module is a synchronous serial interface, useful for communicating with other peripheral or microcontroller devices. These peripheral devices may be serial EEPROMs, shift registers, display drivers, A/D Converters, etc. The Inter-Integrated Circuit (I2C) module offers full hardware support for both slave and multi-master operations. 2 The key features of the I C module are: I2C slave operation supports 7 and 10-bit address I2C master operation supports 7 and 10-bit address I2C port allows bidirectional transfers between master and slaves * Serial clock synchronization for I2C port can be used as a handshake mechanism to suspend and resume serial transfer (serial clock stretching) * I2C supports multi-master operation; detects bus collision and will arbitrate accordingly * Slew rate control for 100 kHz and 400 kHz bus speeds * * * DS70155C-page 30 Preliminary In I2C mode, pin SCL is clock and pin SDA is data. The module will override the data direction bits for these pins. 8.11 Controller Area Network (CAN) Module The Controller Area Network (CAN) module is a serial interface useful for communicating with other CAN modules or microcontroller devices. This interface/ protocol was designed to allow communications within noisy environments. The CAN module is a communication controller implementing the CAN 2.0 A/B protocol, as defined in the BOSCH specification. The module supports CAN 1.2, CAN 2.0A, CAN2.0B Passive and CAN 2.0B Active versions of the protocol. Details of these protocols can be found in the BOSCH CAN specification. The CAN module features: * Implementation of the CAN protocol CAN 1.2, CAN 2.0A and CAN 2.0B * Standard and extended data frames * Data lengths of 0-8 bytes * Programmable bit rate up to 1 Mbit/sec * Automatic response to remote frames * Up to 16 receive buffers in DMA RAM * FIFO Buffer mode (up to 64 messages deep) * 16 full (standard/extended identifier) acceptance filters * 3 full acceptance filter masks * Up to 8 transmit buffers in DMA RAM * DMA can be used for transmission and reception * Programmable wake-up functionality with integrated low-pass filter * Programmable Loopback mode supports self-test operation * Signaling via interrupt capabilities for all CAN receiver and transmitter error states * Programmable clock source * Programmable link to timer module for time-stamping and network synchronization * Low-power Sleep and Idle mode The CAN bus module consists of a protocol engine and message buffering/control. The CAN protocol engine handles all functions for receiving and transmitting messages on the CAN bus. Messages are transmitted by first loading the appropriate data registers. Status and errors can be checked by reading the appropriate registers. Any message detected on the CAN bus is checked for errors and then matched against filters to see if it should be received and stored in one of the receive registers. (c) 2005 Microchip Technology Inc. dsPIC33F 8.12 I/O Pins The I/O pins have the following features: Some pins for the I/O pin functions are multiplexed with an alternate function for the peripheral features on the device. In general, when a peripheral is enabled, that pin may not be used as a general purpose I/O pin. All I/O port pins have three registers directly associated with the operation of the port pin. The Data Direction register determines whether the pin is an input or an output. The Port Data Latch register provides latched output data for the I/O pins. The Port register provides visibility of the logic state of the I/O pins. Reading the Port register provides the I/O pin logic state, while writes to the Port register write the data to the Port Data Latch register. I/O port pins have latch bits (Port Data Latch register). This register, when read, yields the contents of the I/O latch and when written, modifies the contents of the I/O latch, thus modifying the value driven out on a pin if the corresponding Data Direction register bit is configured for output. This can be used in read-modify-write instructions that allow the user to modify the contents of the Port Data Latch register, regardless of the status of the corresponding pins. (c) 2005 Microchip Technology Inc. * Schmitt Trigger input * CMOS output drivers * Weak internal pull-up All I/O pins configured as digital inputs can accept 5V signals. This provides a degree of compatibility with external signals of different voltage levels. However, all digital outputs and analog pins can only generate voltage levels up to 3.6V. The input change notification module gives dsPIC33F devices the ability to generate interrupt requests to the processor in response to a change of state on selected input pins. This module is capable of detecting input changes of state, even in Sleep mode, when the clocks are disabled. There are up to 24 external signals (CN0 through CN23) that can be selected (enabled) for generating an interrupt request on a change of state. Each of the CN pins also has an optional weak pull-up feature. Preliminary DS70155C-page 31 dsPIC33F 9.0 dsPIC33F INSTRUCTION SET 9.2.1 9.1 Introduction As the instruction summary tables show, most instructions execute in a single cycle with the following exceptions: The dsPIC33F instruction set provides a broad suite of instructions which supports traditional microcontroller applications, and a class of instructions which supports math-intensive applications. Since almost all of the functionality of the PICmicro(R) MCU instruction set has been maintained, this hybrid instruction set allows a friendly DSP migration path for users already familiar with the PICmicro microcontroller. 9.2 Instruction Set Overview The dsPIC33F instruction set contains 84 instructions which can be grouped into the ten functional categories shown in Table 9-1. Table 9-2 defines the symbols used in the instruction summary tables, Table 9-3 through Table 9-12. These tables define the syntax, description, storage and execution requirements for each instruction. Storage requirements are represented in 24-bit instruction words and execution requirements are represented in instruction cycles. Most instructions have several different addressing modes and execution flows which require different instruction variants. For instance, there are six unique ADD instructions and each instruction variant has its own instruction encoding. TABLE 9-1: dsPIC33F INSTRUCTION GROUPS Functional Group Summary Table Move Instructions Table 9-3 Math Instructions Table 9-4 Logic Instructions Table 9-5 Rotate/Shift Instructions Table 9-6 Bit Instructions Table 9-7 Compare/Skip Instructions Table 9-8 Program Flow Instructions Table 9-9 Shadow/Stack Instructions Table 9-10 Control Instructions Table 9-11 DSP Instructions Table 9-12 DS70155C-page 32 MULTI-CYCLE INSTRUCTIONS * Instructions DO, MOV.D, POP.D, PUSH.D, TBLRDH, TBLRDL, TBLWTH and TBLWTL require 2 cycles to execute. * Instructions DIVF, DIV.S, DIV.U are singlecycle instructions, which should be executed 18 consecutive times as the target REPEAT instruction. * Instructions that change the program counter also require 2 cycles to execute, with the extra cycle executed as a NOP. Skip instructions, which skip over a 2-word instruction, require 3 instruction cycles to execute with 2 cycles executed as a NOP. * The RETFIE, RETLW and RETURN are special cases of instructions that change the program counter. These execute in 3 cycles unless an exception is pending, and then they execute in 2 cycles. Note: 9.2.2 Instructions that access program memory as data, using Program Space Visibility, incur some cycle count overhead. MULTI-WORD INSTRUCTIONS As the instruction summary tables show, almost all instructions consume one instruction word (24 bits), with the exception of the CALL, DO and GOTO instructions, which are flow instructions listed in Table 9-9. These instructions require two words of memory because their opcodes embed large literal operands. Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 9-2: SYMBOLS USED IN SUMMARY TABLES Symbol Description # Literal operand designation Acc Accumulator A or Accumulator B AWB Accumulator Write Back bit4 4-bit wide bit position (0:15) Expr Absolute address, label or expression (resolved by the linker) f File register address lit1 1-bit literal (0:1) lit4 4-bit literal (0:15) lit5 5-bit literal (0:31) lit8 8-bit literal (0:255) lit10 10-bit literal (0:255 for Byte mode, 0:1023 for Word mode) lit14 14-bit literal (0:16383) lit16 16-bit literal (0:65535) lit23 23-bit literal (0:8388607) Slit4 Signed 4-bit literal (-8:7) Slit6 Signed 6-bit literal (-16:16) Slit10 Signed 10-bit literal (-512:511) Slit16 Signed 16-bit literal (-32768:32767) TOS Top-of-Stack Wb Base working register Wd Destination working register (direct and indirect addressing) Wm, Wn Working register divide pair (dividend, divisor) Wm*Wm Working register multiplier pair (same source register) Wm*Wn Working register multiplier pair (different source registers) Wn Both source and destination working register (direct addressing) Wnd Destination working register (direct addressing) Wns Source working register (direct addressing) WREG Default working register Ws Source working register (direct and indirect addressing) Wx Source addressing mode and working register for X data bus prefetch Wxd Destination working register for X data bus prefetch Wy Source addressing mode and working register for Y data bus prefetch Wyd Destination working register for Y data bus prefetch (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 33 dsPIC33F TABLE 9-3: MOVE INSTRUCTIONS Assembly Syntax EXCH Wns,Wnd MOV MOV Description Words Cycles Swap Wns and Wnd 1 1 f {,WREG} Move f to destination 1 1 WREG,f Move WREG to f 1 1 MOV f,Wnd Move f to Wnd 1 1 MOV Wns,f Move Wns to f 1 1 MOV.b #lit8,Wnd Move 8-bit literal to Wnd 1 1 MOV #lit16,Wnd Move 16-bit literal to Wnd 1 1 MOV [Ws+Slit10],Wnd Move [Ws + signed 10-bit offset] to Wnd 1 1 MOV Wns,[Wd+Slit10] Move Wns to [Wd + signed 10-bit offset] 1 1 MOV Ws,Wd Move Ws to Wd 1 1 MOV.D Ws,Wnd Move double Ws to Wnd:Wnd + 1 1 2 MOV.D Wns,Wd Move double Wns:Wns + 1 to Wd 1 2 SWAP Wn Wn = byte or nibble swap Wn 1 1 TBLRDH Ws,Wd Read high program word to Wd 1 2 TBLRDL Ws,Wd Read low program word to Wd 1 2 TBLWTH Ws,Wd Write Ws to high program word 1 2 TBLWTL Ws,Wd Write Ws to low program word 1 2 Note: When the optional {,WREG} operand is specified, the destination of the instruction is WREG. When {,WREG} is not specified, the destination of the instruction is the file register f. Note: Table 9-3 through Table 9-12 present the base instruction syntax for the dsPIC33F. These instructions do not include all of the available addressing modes. For example, some instructions show the Byte Addressing mode and others do not. DS70155C-page 34 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 9-4: Assembly MATH INSTRUCTIONS Syntax Description Words Cycles ADD ADD ADD ADD ADDC ADDC ADDC ADDC DAW.B DEC DEC DEC2 DEC2 DIV.S DIV.SD DIV.U DIV.UD DIVF INC INC INC2 INC2 MUL MUL.SS MUL.SU MUL.SU MUL.US MUL.UU MUL.UU SE SUB SUB SUB SUB SUBB SUBB f {,WREG} #lit10,Wn Wb,#lit5,Wd Wb,Ws,Wd f {,WREG} #lit10,Wn Wb,#lit5,Wd Wb,Ws,Wd Wn f {,WREG} Ws,Wd f {,WREG} Ws,Wd Wm,Wn Wm,Wn Wm,Wn Wm,Wn Wm,Wn f {,WREG} Ws,Wd f {,WREG} Ws,Wd f Wb,Ws,Wnd Wb,#lit5,Wnd Wb,Ws,Wnd Wb,Ws,Wnd Wb,#lit5,Wnd Wb,Ws,Wnd Ws,Wnd f {,WREG} #lit10, Wn Wb,#lit5,Wd Wb,Ws,Wd f {,WREG} #lit10, Wn Destination = f + WREG Wn = lit10 + Wn Wd = Wb + lit5 Wd = Wb + Ws Destination = f + WREG + (C) Wn = lit10 + Wn + (C) Wd = Wb + lit5 + (C) Wd = Wb + Ws + (C) Wn = decimal adjust Wn Destination = f - 1 Wd = Ws - 1 Destination = f - 2 Wd = Ws - 2 Signed 16/16-bit integer divide* Signed 32/16-bit integer divide* Unsigned 16/16-bit integer divide* Unsigned 32/16-bit integer divide* Signed 16/16-bit fractional divide* Destination = f + 1 Wd = Ws + 1 Destination = f + 2 Wd = Ws + 2 W3:W2 = f * WREG {Wnd + 1,Wnd} = sign(Wb) * sign(Ws) {Wnd + 1,Wnd} = sign(Wb) * unsign(lit5) {Wnd + 1,Wnd} = sign(Wb) * unsign(Ws) {Wnd + 1,Wnd} = unsign(Wb) * sign(Ws) {Wnd + 1,Wnd} = unsign(Wb) * unsign(lit5) {Wnd + 1,Wnd} = unsign(Wb) * unsign(Ws) Wnd = sign-extended Ws Destination = f - WREG Wn = Wn - lit10 Wd = Wb - lit5 Wd = Wb - Ws Destination = f - WREG - (C) Wn = Wn - lit10 - (C) 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 18 18 18 18 18 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 SUBB Wb,#lit5,Wd Wd = Wb - lit5 - (C) 1 1 SUBB Wb,Ws,Wd Wd = Wb - Ws - (C) 1 1 SUBBR f {,WREG} Destination = WREG - f - (C) 1 1 SUBBR Wb,#lit5,Wd Wd = lit5 - Wb - (C) 1 1 SUBBR Wb,Ws,Wd Wd = Ws - Wb - (C) 1 1 SUBR f {,WREG} Destination = WREG - f 1 1 SUBR Wb,#lit5,Wd Wd = lit5 - Wb 1 1 SUBR Wb,Ws,Wd Wd = Ws - Wb 1 1 ZE Ws,Wnd Wnd = zero-extended Ws 1 1 * Divide instructions are interruptible on a cycle-by-cycle basis. Also, divide instructions must be accompanied by a REPEAT instruction, which adds 1 extra cycle. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 35 dsPIC33F TABLE 9-5: LOGIC INSTRUCTIONS Assembly Syntax Description Words Cycles AND f {,WREG} Destination = f .AND. WREG 1 1 AND #lit10,Wn Wn = lit10 .AND. Wn 1 1 AND Wb,#lit5,Wd Wd = Wb .AND. lit5 1 1 AND Wb,Ws,Wd Wd = Wb .AND. Ws 1 1 CLR f f = 0x0000 1 1 CLR WREG WREG = 0x0000 1 1 CLR Wd Wd = 0x0000 1 1 COM f {,WREG} Destination = f 1 1 COM Ws,Wd Wd = Ws 1 1 IOR f {,WREG} Destination = f .IOR. WREG 1 1 IOR #lit10,Wn Wn = lit10 .IOR. Wn 1 1 IOR Wb,#lit5,Wd Wd = Wb .IOR. lit5 1 1 IOR Wb,Ws,Wd Wd = Wb .IOR. Ws 1 1 NEG f {,WREG} Destination = f + 1 1 1 NEG Ws,Wd Wd = Ws + 1 1 1 SETM f f = 0xFFFF 1 1 SETM WREG WREG = 0xFFFF 1 1 SETM Wd Wd = 0xFFFF 1 1 XOR f {,WREG} Destination = f .XOR. WREG 1 1 XOR #lit10,Wn Wn = lit10 .XOR. Wn 1 1 XOR Wb,#lit5,Wd Wd = Wb .XOR. lit5 1 1 Wb,Ws,Wd Wd = Wb .XOR. Ws 1 1 XOR Note: When the optional {,WREG} operand is specified, the destination of the instruction is WREG. When {,WREG} is not specified, the destination of the instruction is the file register f. DS70155C-page 36 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 9-6: ROTATE/SHIFT INSTRUCTIONS Assembly Syntax ASR f {,WREG} Destination = arithmetic right shift f ASR Ws,Wd Wd = arithmetic right shift Ws 1 1 ASR Wb,#lit4,Wnd Wnd = arithmetic right shift Wb by lit4 1 1 ASR Wb,Wns,Wnd Wnd = arithmetic right shift Wb by Wns 1 1 LSR f {,WREG} Destination = logical right shift f 1 1 LSR Ws,Wd Wd = logical right shift Ws 1 1 LSR Wb,#lit4,Wnd Wnd = logical right shift Wb by lit4 1 1 LSR Wb,Wns,Wnd Wnd = logical right shift Wb by Wns 1 1 RLC f {,WREG} Destination = rotate left through Carry f 1 1 RLC Ws,Wd Wd = rotate left through Carry Ws 1 1 RLNC f {,WREG} Destination = rotate left (no Carry) f 1 1 RLNC Ws,Wd Wd = rotate left (no Carry) Ws 1 1 RRC f {,WREG} Destination = rotate right through Carry f 1 1 RRC Ws,Wd Wd = rotate right through Carry Ws 1 1 RRNC f {,WREG} Destination = rotate right (no Carry) f 1 1 RRNC Ws,Wd Wd = rotate right (no Carry) Ws 1 1 SL f {,WREG} Destination = left shift f 1 1 SL Ws,Wd Wd = left shift Ws 1 1 SL Wb,#lit4,Wnd Wnd = left shift Wb by lit4 1 1 Wb,Wns,Wnd Wnd = left shift Wb by Wns 1 1 SL Note: Description Words Cycles 1 1 When the optional {,WREG} operand is specified, the destination of the instruction is WREG. When {,WREG} is not specified, the destination of the instruction is the file register f. TABLE 9-7: Assembly BIT INSTRUCTIONS Syntax Description Words Cycles BCLR f,#bit4 Bit clear f 1 1 BCLR Ws,#bit4 Bit clear Ws 1 1 BSET f,#bit4 Bit set f 1 1 BSET Ws,#bit4 Bit set Ws 1 1 BSW.C Ws,Wb Write C bit to Ws<Wb> 1 1 1 BSW.Z Ws,Wb Write SZ bit to Ws<Wb> 1 BTG f,#bit4 Bit toggle f 1 1 BTG Ws,#bit4 Bit toggle Ws 1 1 BTST f,#bit4 Bit test f 1 1 BTST.C Ws,#bit4 Bit test Ws to C 1 1 BTST.Z Ws,#bit4 Bit test Ws to SZ 1 1 BTST.C Ws,Wb Bit test Ws<Wb> to C 1 1 BTST.Z Ws,Wb Bit test Ws<Wb> to SZ 1 1 BTSTS f,#bit4 Bit test f then set f 1 1 BTSTS.C Ws,#bit4 Bit test Ws to C then set Ws 1 1 BTSTS.Z Ws,#bit4 Bit test Ws to SZ then set Ws 1 1 FBCL Ws,Wnd Find bit change from left (MSb) side 1 1 FF1L Ws,Wnd Find first one from left (MSb) side 1 1 FF1R Ws,Wnd Find first one from right (LSb) side 1 1 Note: Bit positions are specified by bit4 (0:15) for word operations. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 37 dsPIC33F TABLE 9-8: COMPARE/SKIP INSTRUCTIONS Assembly Syntax Description Words Cycles BTSC f,#bit4 Bit test f, skip if clear 1 1 (2 or 3) BTSC Ws,#bit4 Bit test Ws, skip if clear 1 1 (2 or 3) BTSS f,#bit4 Bit test f, skip if set 1 1 (2 or 3) BTSS Ws,#bit4 Bit test Ws, skip if set 1 1 (2 or 3) CP f Compare (f - WREG) 1 1 CP Wb,#lit5 Compare (Wb - lit5) 1 1 CP Wb,Ws Compare (Wb - Ws) 1 1 CP0 f Compare (f - 0x0000) 1 1 CP0 Ws Compare (Ws - 0x0000) 1 1 CPB f Compare with Borrow (f - WREG - C) 1 1 CPB Wb,#lit5 Compare with Borrow (Wb - lit5 - C) 1 1 1 1 (2 or 3) CPB Wb,Ws Compare with Borrow (Wb - Ws - C) 1 CPSEQ Wb,Wn Compare Wb with Wn, Skip if Equal (Wb = Wn) 1 CPSGT Wb,Wn Signed Compare Wb with Wn, Skip if Greater Than (Wb > Wn) 1 1 (2 or 3) CPSLT Wb,Wn Signed Compare Wb with Wn, Skip if Less Than (Wb < Wn) 1 1 (2 or 3) Wb,Wn Signed Compare Wb with Wn, Skip if Not Equal (Wb Wn) 1 1 (2 or 3) CPSNE Note 1: 2: Bit positions are specified by bit4 (0:15) for word operations. Conditional skip instructions execute in 1 cycle if the skip is not taken, 2 cycles if the skip is taken over a one-word instruction and 3 cycles if the skip is taken over a two-word instruction. DS70155C-page 38 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 9-9: PROGRAM FLOW INSTRUCTIONS Assembly Syntax BRA Expr Branch unconditionally BRA Wn Computed branch 1 2 BRA C,Expr Branch if Carry (no Borrow) 1 1 (2) BRA GE,Expr Branch if greater than or equal 1 1 (2) BRA GEU,Expr Branch if unsigned greater than or equal 1 1 (2) BRA GT,Expr Branch if greater than 1 1 (2) BRA GTU,Expr Branch if unsigned greater than 1 1 (2) BRA LE,Expr Branch if less than or equal 1 1 (2) BRA LEU,Expr Branch if unsigned less than or equal 1 1 (2) BRA LT,Expr Branch if less than 1 1 (2) BRA LTU,Expr Branch if unsigned less than 1 1 (2) BRA N,Expr Branch if Negative 1 1 (2) BRA NC,Expr Branch if not Carry (Borrow) 1 1 (2) BRA NN,Expr Branch if not Negative 1 1 (2) BRA NOV,Expr Branch if not Overflow 1 1 (2) BRA NZ,Expr Branch if not Zero 1 1 (2) BRA OA,Expr Branch if Accumulator A Overflow 1 1 (2) BRA OB,Expr Branch if Accumulator B Overflow 1 1 (2) BRA OV,Expr Branch if Overflow 1 1 (2) BRA SA,Expr Branch if Accumulator A Saturate 1 1 (2) BRA SB,Expr Branch if Accumulator B Saturate 1 1 (2) BRA Z,Expr Branch if Zero 1 1 (2) CALL Expr Call subroutine 2 2 CALL Wn Call indirect subroutine 1 2 DO #lit14,Expr Do code through PC + Expr, (lit14 + 1) times 2 2 DO Wn,Expr Do code through PC + Expr, (Wn + 1) times 2 2 GOTO Expr Go to address 2 2 GOTO Wn Go to address indirectly 1 2 RCALL Expr Relative call 1 2 RCALL Wn Computed call 1 2 REPEAT #lit14 Repeat next instruction (lit14 + 1) times 1 1 REPEAT Wn Repeat next instruction (Wn + 1) times 1 1 Return from interrupt enable 1 3 (2) Return with lit10 in Wn 1 3 (2) Return from subroutine 1 3 (2) RETFIE RETLW #lit10,Wn RETURN Note 1: 2: Description Words Cycles 1 2 Conditional branch instructions execute in 1 cycle if the branch is not taken, or 2 cycles if the branch is taken. RETURN normally executes in 3 cycles; however, it executes in 2 cycles if an interrupt is pending. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 39 dsPIC33F TABLE 9-10: SHADOW/STACK INSTRUCTIONS Assembly Syntax LNK #lit14 POP POP POP.D Words Cycles Link Frame Pointer 1 1 f Pop TOS to f 1 1 Wd Pop TOS to Wd 1 1 Wnd Double pop from TOS to Wnd:Wnd + 1 1 2 Pop shadow registers 1 1 POP.S Description PUSH f Push f to TOS 1 1 PUSH Ws Push Ws to TOS 1 1 PUSH.D Wns Push double Wns:Wns + 1 to TOS 1 2 PUSH.S Push shadow registers 1 1 ULNK Unlink Frame Pointer 1 1 Words Cycles Clear Watchdog Timer 1 1 Disable interrupts for (lit14 + 1) instruction cycles 1 1 No operation 1 1 No operation 1 1 Enter Power-Saving mode lit1 1 1 Software device Reset 1 1 Words Cycles 1 1 TABLE 9-11: Assembly CONTROL INSTRUCTIONS Syntax CLRWDT DISI #lit14 NOP NOPR PWRSAV #lit1 RESET TABLE 9-12: Description DSP INSTRUCTIONS Assembly Syntax ADD Acc Add accumulators ADD Ws,#Slit4,Acc 16-bit signed add to Acc 1 1 CLR Acc,Wx,Wxd,Wy,Wyd,AWB Clear Acc 1 1 ED Wm*Wm,Acc,Wx,Wy,Wxd Euclidean distance (no accumulate) 1 1 EDAC Wm*Wm,Acc,Wx,Wy,Wxd Euclidean distance 1 1 LAC Ws,#Slit4,Acc Load Acc 1 1 MAC Wm*Wn,Acc,Wx,Wxd,Wy,Wyd,AWB Multiply and accumulate 1 1 MAC Wm*Wm,Acc,Wx,Wxd,Wy,Wyd Square and accumulate 1 1 MOVSAC Acc,Wx,Wxd,Wy,Wyd,AWB Move Wx to Wxd and Wy to Wyd 1 1 MPY Wm*Wn,Acc,Wx,Wxd,Wy,Wyd Multiply Wn by Wm to Acc 1 1 MPY Wm*Wm,Acc,Wx,Wxd,Wy,Wyd Square to Acc 1 1 MPY.N Wm*Wn,Acc,Wx,Wxd,Wy,Wyd -(Multiply Wn by Wm) to Acc 1 1 MSC Wm*Wn,Acc,Wx,Wxd,Wy,Wyd,AWB Multiply and subtract from Acc 1 1 NEG Acc Negate Acc 1 1 SAC Acc,#Slit4,Wd Store Acc 1 1 SAC.R Acc,#Slit4,Wd Store rounded Acc 1 1 SFTAC Acc,#Slit6 Arithmetic shift Acc by Slit6 1 1 SFTAC Acc,Wn Arithmetic shift Acc by (Wn) 1 1 SUB Acc Subtract accumulators 1 1 DS70155C-page 40 Description Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 10.0 MICROCHIP DEVELOPMENT TOOL SUPPORT Microchip offers comprehensive development tools and libraries to support the dsPIC33F architecture. In addition, the company is partnering with many third party tools manufacturers for additional dsPIC33F device support. Table 10-1 lists development tools that support the dsPIC33F family. The paragraphs that follow describe each of the tools in more detail. TABLE 10-1: dsPIC33F DEVELOPMENT TOOLS Essential Hardware Tools Essential Software Tools Development Tool Description Part # From MPLAB(R) IDE (see Section 10.1 MPLAB Integrated Development Environment Software) Integrated Development Environment SW007002 Microchip MPLAB ASM30 (see Section 10.2 MPLAB ASM30 Assembler/Linker/Librarian) Assembler (included in MPLAB IDE) SW007002 Microchip MPLAB SIM (see Section 10.3 MPLAB SIM Software Simulator) Software Simulator (Included in MPLAB IDE) SW007002 Microchip MPLAB VDI (see Section 10.4 MPLAB Visual Device Initializer) Visual Device Initializer for dsPIC33F (included in MPLAB IDE) SW007002 Microchip MPLAB C30 (see Section 10.5 MPLAB C30 C Compiler/Linker/Librarian) ANSI C Compiler, Assembler, Linker and Librarian SW006012 Microchip MPLAB ICD 2 (see Section 10.6 MPLAB ICD 2 In-Circuit Debugger) In-Circuit Debugger and Device Programmer DV164005 Microchip Full-Featured Device Programmer, Base Unit DV007004 Microchip MPLAB PM3 (see Section 10.7 MPLAB PM3 Universal Device Programmer) Legend: Socket Module for 100L TQFP Devices (14 mm x 14 mm) TBD Microchip Socket Module for 80L TQFP Devices (12 mm x 12 mm) TBD Microchip Socket Module for 64L TQFP Devices (10 mm x 10 mm) TBD Microchip TBD = To Be Determined (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 41 dsPIC33F 10.1 MPLAB Integrated Development Environment Software The MPLAB Integrated Development Environment (IDE) is available at no cost. The MPLAB IDE lets the user edit, compile and emulate from a single user interface, as depicted in Figure 10-1. Code can be designed and developed for the dsPIC(R) DSC devices in the same design environment as the PICmicro microcontrollers. The MPLAB IDE is a 32-bit Windows(R) operating system-based application that provides many advanced features for the demanding engineer in a modern, easy-to-use interface. MPLAB IDE integrates: * * * * Full-featured, color coded text editor Easy to use project manager with visual display Source level debugging Enhanced source level debugging for `C' (structures, automatic variables, etc.) * Customizable toolbar and key mapping * Dynamic status bar displays processor condition FIGURE 10-1: * Context sensitive, interactive on-line help * Integrated MPLAB SIM instruction simulator * User interface for MPLAB PM3 and PICSTART(R) Plus device programmers (sold separately) * User interface for MPLAB ICD 2 In-Circuit Debugger (sold separately) The MPLAB IDE allows: * Editing of source files in either assembly or `C' * One-touch compiling and downloading to dsPIC DSC emulator or simulator * Debugging using: - Source files - Machine code - Mixed mode source and machine code The ability to use the MPLAB IDE with multiple development and debugging targets provides easy transition from the cost-effective simulator to MPLAB ICD 2, or to a full-featured emulator with minimal retraining. MPLAB(R) IDE DESKTOP Set break/trace points with a click of the mouse Powerful Project Manager handles multiple projects and all file types Simply move your mouse over a variable to view or modify Color keyed editor makes source code debug easier Fully customizable watch windows to view and modify registers and memory locations Status bar updates on single step or run DS70155C-page 42 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 10.2 MPLAB ASM30 Assembler/Linker/ Librarian MPLAB ASM30 is a full-featured macro assembler. User-defined macros, conditional assembly and a variety of assembler directives make the MPLAB ASM30 a powerful code generation tool. The accompanying MPLAB LINK30 Linker and MPLAB LIB30 Librarian modules allow efficient linking, library creation and maintenance. Notable features of the assembler include: * * * * * * * Support for the entire dsPIC DSC instruction set Support for fixed-point and floating-point data Available for Windows operating system Command Line Interface Rich Directive Set Flexible Macro Language MPLAB IDE compatibility 10.4 MPLAB Visual Device Initializer The MPLAB Visual Device Initializer (VDI) simplifies the task of configuring the dsPIC33F. MPLAB VDI software allows you to configure the entire processor graphically (see Figure 10-2). And when you're done, a mouse click generates your code in assembly or `C' code. MPLAB VDI performs extensive error checking on assignments and conflicts on pins, memories and interrupts, as well as selection of operating conditions. Generated code files are integrated seamlessly with the rest of our application code through MPLAB Project. Detailed resource assignment and configuration reports simplify project documentation. Key features of MPLAB VDI include: * * * * Drag-and-drop feature selection One click configuration Extensive error checking Generates initialization code in the form of a `C' callable assembly function * Integrates seamlessly in MPLAB Project * Printed reports ease project documentation requirements * MPLAB Visual Device Initializer is an MPLAB plug-in and can be installed independently of MPLAB IDE Notable features of the linker include: * Automatic or user-defined stack allocation * Supports dsPIC DSC Program Space Visibility (PSV) window * Available for Windows operating systems * Command Line Interface * Linker scripts for all dsPIC DSC devices * MPLAB IDE compatibility FIGURE 10-2: 10.3 MPLAB(R) VDI DISPLAY MPLAB SIM Software Simulator The MPLAB SIM software simulator provides code development for the dsPIC33F family in a PC-hosted environment by simulating the dsPIC33F device on an instruction level. On any instruction, you can examine or modify the data areas and apply stimuli to any of the pins from a file or by pressing a user-defined key. The execution can be performed in Single-Step, Execute-Until-Break or Trace mode. The MPLAB SIM software simulator fully supports symbolic debugging using the MPLAB C30 C compiler and assembler. The software simulator gives you the flexibility to develop and debug code outside of the laboratory environment, making it an excellent multi-project software development tool. Complex stimuli can be injected from files, synchronous clocks or user-defined keys. Output files log register activity for sophisticated post analysis. Besides modeling the behavior of the CPU, MPLAB SIM also supports the following peripherals: * Timers * Motor Control PWM * Input Capture * UART * 12-Bit ADC * I/O Ports * 10-Bit ADC * Program Flash (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 43 dsPIC33F 10.5 MPLAB C30 C Compiler/Linker/ Librarian The MPLAB C30 has these characteristics: The Microchip Technology MPLAB C30 C Compiler provides `C' language support for the dsPIC33F family. This C compiler is a fully ANSI-compliant product with standard libraries. It is highly optimized for the dsPIC33F family and takes advantage of many dsPIC33F architecture-specific features to help you generate very efficient software code. Figure 10-3 illustrates the code size efficiency relative to several competitors. MPLAB C30 also provides extensions that allow for excellent support of the hardware, such as interrupts and peripherals. It is fully integrated with MPLAB IDE for high-level source debugging. FIGURE 10-3: DS70155C-page 44 * 16-bit native data types * Efficient use of register-based, 3-operand instructions * Complex addressing modes * Efficient multi-bit shift operations * Efficient signed/unsigned comparisons MPLAB C30 comes complete with its own assembler, linker and librarian. These allow Mixed mode `C' and assembly programs and link the resulting object files into a single executable file. The compiler is sold separately. The assembler, linker and librarian are available for free with MPLAB C30. MPLAB C30 also includes the Math Library, Peripheral Library, DSP Library and standard `C' libraries. RELATIVE CODE SIZE (IN BYTES) Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 10.6 MPLAB ICD 2 In-Circuit Debugger The MPLAB ICD 2 In-Circuit Debugger is a powerful, low-cost, run-time development tool that uses in-circuit debugging capability built into the dsPIC33F Flash devices. This feature, along with Microchip's In-Circuit Serial ProgrammingTM protocol, gives you cost-effective, in-circuit debugging from the graphical user interface of MPLAB IDE. It lets you develop and debug source code by watching variables, single-stepping and setting breakpoints, as well as running at full speed to test hardware in real time. The MPLAB PM3 programmer is designed with 40 programmable socket pins and therefore, each socket module can be configured to support many different devices. As a result, fewer socket modules are required to support the entire line of Microchip parts. The socket modules use multi-pin connectors for high reliability and quick interchange. When connected to a PC host system, the MPLAB PM3 programmer is seamlessly integrated with the MPLAB Integrated Development Environment (IDE), providing a user-friendly programming interface. The MPLAB ICD 2 has these features: Key features of the MPLAB PM3 Programmer include: * * * * * RS-232 or USB interface * Integrated In-Circuit Serial ProgrammingTM (ICSPTM) interface * Fast programming time * Three operating modes: - PC Host mode for full control - Safe mode for secure data - Stand-Alone mode for programming without a PC * Complete line of interchangeable socket modules to support all Microchip devices and package options (sold separately) * SQTPSM serialization for programming unique serial numbers while in PC Host mode. * An alternate DOS command line interface for batch control * Large easy-to-read display * Field upgradeable firmware allows quick new device support * Secure Digital (SD) and Multimedia Card (MMC) external memory support * Buzzer notification for noisy environments Full-speed operation to the range of the device Serial or USB PC connector USB-powered from PC interface Low noise power (VPP and VDD) for use with analog and other noise sensitive applications * Operation down to 2.0V * Can be used as debugger and inexpensive serial programmer * Some device resources required (80 bytes of RAM and 2 pins) FIGURE 10-4: MPLAB(R) ICD 2 IN-CIRCUIT DEBUGGER FIGURE 10-5: 10.7 MPLAB(R) PM3 DEVICE PROGRAMMER MPLAB PM3 Universal Device Programmer The MPLAB PM3 Universal Device Programmer is easy to use with a PC, or as a stand-alone unit, to program Microchip's entire line of PICmicro devices as well as the latest dsPIC33F DSC devices. The MPLAB PM3 features a large and bright LCD unit (128 x 64 pixels) to display easy menus, programming statistics and status information. The MPLAB PM3 programmer has exceptional programming speed for high production throughput, especially important for large memory devices. It also includes a Secure Digital/Multimedia Card slot for easy and secure data storage and transfer. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 45 dsPIC33F 11.0 dsPIC33F DEVELOPMENT TOOLS AND APPLICATION LIBRARIES Microchip offers a comprehensive set of tools and libraries to help with rapid development of dsPIC33F device-based application(s). TABLE 11-1: Table 11-1 summarizes available and planned dsPIC33F software tools and libraries. Microchip also provides value added services, such as skilled/certified technical application contacts, reference designs and hardware and software developers. (Contact Microchip DSCD Marketing for availability.) MICROCHIP SOFTWARE DEVELOPMENT TOOLS AND APPLICATION LIBRARIES Development Tool Description Part # Math Library (see Section 11.1 Math Library) Double Precision and Floating-Point Library (ASM, C Wrapper) SW300020 Peripheral Library (see Section 11.2 Peripheral Driver Library) Peripheral Initialization, Control and Utility Routines (C) SW300021 DSP Library (see Section 11.3 DSP Algorithm Library) Essential DSP Algorithm Suite (Filters, FFT) SW300022 dsPICworksTM Tool (see Section 11.4 dsPICworksTM Data Analysis and DSP Software) Graphical Data Analysis and Conversion Tool for DSP Algorithms SW300023 Digital Filter Design (see Section 11.5 Digital Graphical IIR and FIR Filter Design Package for dsPIC33F Filter Design Software Utility) SW300001 TCP/IP Library (see Section 11.6 Microchip TCP/IP Connectivity and Protocol Support TCP/IP Stack) SW300024 Soft Modem Library (see Section 11.7 Soft V.22bis/V.22 Soft Modem Library Modem Library) V.32bis Soft Modem Library up to 5K units Speech Recognition Library (see Section 11.8 Speech Recognition Library) Noise Suppression Library (see Section 11.9 Noise Suppression Library) Acoustic Echo Cancellation Library (see Section 11.10 Acoustic Echo Cancellation Library) Symmetric Key Embedded Encryption Library (see Section 11.11 Symmetric Key Embedded Encryption Library) SW300002 SW300003-5K V.32bis Soft Modem Library up to 25K units SW300003-25K V.32bis Soft Modem Library up to 100K units SW300003-100K Evaluation Copy of V.32bis Soft Modem Library SW300003-EVAL Speech Recognition Library up to 5K units SW300010-5K Speech Recognition Library up to 25K units SW300010-25K Speech Recognition Library up to 100K units SW300010-100K Evaluation Copy of Speech Recognition Library SW300010-EVAL Noise Suppression Library up to 5K units SW300040-5K Noise Suppression Library up to 25K units SW300040-25K Noise Suppression Library up to 100K units SW300040-100K Evaluation Copy of Noise Suppression Library SW300040-EVAL Acoustic Echo Cancellation Library up to 5K units SW300060-5K Acoustic Echo Cancellation Library up to 25K units SW300060-25K Acoustic Echo Cancellation Library up to 100K units SW300060-100K Evaluation Copy of Acoustic Echo Cancellation Library SW300060-EVAL Symmetric Key Embedded Encryption Library up to 5K units SW300050-5K Symmetric Key Embedded Encryption Library up to 25K units SW300050-25K Symmetric Key Embedded Encryption Library up to 100K units SW300050-100K Evaluation Copy of Symmetric Key Embedded Encryption Library SW300050-EVAL Asymmetric Key Embedded Encryption Asymmetric Key Embedded Encryption Library up to 5K units Library (see Section 11.12 Asymmetric Key Asymmetric Key Embedded Encryption Library up to 25K units Embedded Encryption Library) Asymmetric Key Embedded Encryption Library up to 100K units Evaluation Copy of Asymmetric Key Embedded Encryption Library Speech Encoding/Decoding Library (see Speech Encoding/Decoding Library up to 5K units Section 11.13 Speech Encoding/Decoding Speech Encoding/Decoding Library up to 25K units Library) Speech Encoding/Decoding Library up to 100K units Evaluation Copy of Speech Encoding/Decoding Library DS70155C-page 46 Preliminary SW300055-5K SW300055-25K SW300055-100K SW300055-EVAL SW300070-5K SW300070-25K SW300070-100K SW300070-EVAL (c) 2005 Microchip Technology Inc. dsPIC33F 11.1 TABLE 11-2: Math Library The dsPIC33F Math Library is the compiled version of the math library that is distributed with the highly optimized, ANSI-compliant dsPIC33F MPLAB C30 C Compiler (SW006012). It contains advanced single and double-precision floating-point arithmetic and trigonometric functions from the standard `C' header file (math.h). The library delivers small program code size and data size, reduced cycles and high accuracy. Memory Usage (bytes)(1,2) Code size 5250 Data size 4 Performance (cycles)(1,3) Features * The math library is callable from either MPLAB C30 or dsPIC33F assembly language. * The functions are IEEE-754 compliant, with signed zero, signed infinity, NaN (Not a Number) and denormal support and operated in the "Round to Nearest" mode. * Compatible with MPLAB ASM30 and MPLAB LINK30, which are available at no charge from Microchip's web site. add 122 sub 124 mul 109 div 361 Rem 385 Sqrt 492 Note 1: 2: Table 11-2 shows the memory usage and performance of the Math Library. Table 11-3 lists the math functions that are included. TABLE 11-3: MEMORY USAGE AND PERFORMANCE 3: Results are based on using dsPIC33F MPLAB C30 C Compiler (SW006012), version 1.20. Maximum "Memory Usage" when all functions in the library are loaded. Most applications will use less. Average 32-bit floating-point performance results. MATH FUNCTIONS Single and Double-Precision Floating-Point Functions Arithmetic Functions add, subtract, multiply, divide, remainder Root and Power Functions pow, sqrt Trigonometric and Hyperbolic Functions acos, asin, atan, atan2, cos, cosh, sin, sinh, tan, tanh Logarithmic and Exponential Functions exp, log, log10, frexp, ldexp Rounding Functions ceil, floor Absolute Value Functions fabs Modular Arithmetic Functions fmod, modf Comparison and Conversions comparison, integer and floating-point conversions (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 47 dsPIC33F 11.2 Peripheral Driver Library 11.3 DSP Algorithm Library Microchip offers a free peripheral driver library that supports the setup and control of dsPIC33F hardware peripherals, including, but not limited to: The free DSP library supports multiple filtering, convolution, vector and matrix functions. Among the supported functions are: * * * * * * * * * * * * * * * * * * * * * * * * * Analog-to-Digital Converter Motor Control PWM Quadrature Encoder Interface UART SPITM Data Converter Interface I2CTM General Purpose Timers Input Capture Output Compare/Simple PWM CAN I/O Ports and External Interrupts Reset In addition to the hardware peripherals, the library supports software generated peripherals, such as standard LCD drivers, which support an Hitachi style controller. The peripheral library consist of more than 270 functions, as well as several macros for simple tasks such as enabling and disabling interrupts. All peripheral driver routines are developed and optimized using the MPLAB C30 C Compiler. Electronic documentation accompanies the peripheral library to help you become familiar with and implement the library functions. Key features of the dsPIC33F Peripheral Library include: * A library file for each individual device from the dsPIC33F family, including functions corresponding to peripherals present in that particular device. * `C' include files that let you take advantage of predefined constants for passing parameters to various library functions. There is an include file for each peripheral module. * Since the functions are in the form of precompiled libraries, they can be called from a user application program written in either MPLAB C30 C Compiler or dsPIC33F assembly language. * Included `C' source code allows you to customize peripheral functions to suit your specific application requirements. * Predefined constants in the `C' include files eliminate the need to refer to the details and structure of every Special Function Register while initializing peripherals or checking status bits. DS70155C-page 48 Cascaded Infinite Impulse Response (IIR) Filters Correlation Convolution Finite Impulse Response (FIR) Filters Windowing Functions FFTs LMS Filter Vector Addition and Subtraction Vector Dot Product Vector Power Matrix Addition and Subtraction Matrix Multiplication Some DSP functions use double-precision and floating-point arithmetic. All DSP routines are developed and optimized in dsPIC33F assembly language and are callable from both assembly and `C' language. The Microchip MPLAB C30 and IAR C Compilers are supported. Key features of the DSP Algorithm Library include: * 49 total functions * Full compliance with the Microchip dsPIC33F C30 C Compiler, Assembler and Linker * Simple user interface - just one library file and one header file * Functions are both `C' and assembly callable * FIR filtering functions include support for Lattice, Decimating, Interpolating and LMS filters * IIR filtering functions include support for Canonic, Transposed Canonic and Lattice filters * FIR and IIR functions may be used with the filter files generated by the dsPIC33F Filter Design program * Transform functions include support for in-place and out-of-place DCT, FFT and IFFT transforms * Window functions include support for Bartlett, Blackman, Hamming, Hanning and Kaiser windows * Support for Program Space Visibility * Complete function profile information including register usage, cycle count and function size information * Electronic documentation is included to help you comprehend and use the library functions Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE 11-4: FUNCTION EXECUTION TIMES Cycle Count Equation Function Conditions(1) Number of Cycles(2) Execution Time @ 40 MIPS Complex FFT(3) -- N = 64 3739 93.5 s (3) -- N = 128 8485 212.1 s Complex FFT(3) -- N = 256 19055 476.4 s Complex FFT Block FIR 53 + N(4 + M) N = 32, M = 32 1205 30.1 s Block FIR Lattice 41 + N(4 + 7M) N = 32, M = 32 7337 183.4 s 36 + N(8 + 7S) N = 32, S = 4 1188 29.7 s 46 + N(16 + 7M) N = 32, M = 8 2350 58.8 s 20 + 3(C * R) C = 8, R = 8 212 5.3 s 16 + C(6 + 3(R - 1)) C = 8, R = 8 232 5.8 s Block IIR Canonic Block IIR Lattice Matrix Add Matrix Transpose 17 + 3N N = 32 113 2.8 s 19 + 7(N - 2) N = 32 229 5.7 s Vector Multiply 17 + 4N N = 32 145 3.6 s Vector Power 16 + 2N N = 32 80 2.0 s Vector Dot Product Vector Max Note 1: 2: 3: 11.4 C = # columns, N = # samples, M = # taps, S = # sections, R = # rows. 1 cycle = 25 nanoseconds @ 40 MIPS. Complex FFT routine inherently prevents overflow. dsPICworksTM Data Analysis and DSP Software FIGURE 11-1: The dsPICworks tool is a free data analysis and signal processing package for use with Microsoft(R) Windows(R) 9x, Windows NT(R), Windows 2000 and Windows XP platforms. It provides an extensive number of functions encompassing: dsPICworksTM DATA ANALYSIS AND DSP SOFTWARE * Wide variety of Signal Generators - Sine, Square, Triangular, Window Functions, Noise * Extensive DSP Functions - FFT, DCT, Filtering, Convolution, Interpolation * Extensive Arithmetic Functions - Algebraic Expressions, Data Scaling, Clipping, etc. * 1-D, 2-D and 3-D Displays * Multiple Data Quantization and Saturation Options * Multi-Channel Data Support * Automatic "Script File"-based Execution Options available for any user-defined sequence of dsPICworks Tool Functions * File Import/Export interoperable with MPLAB IDE * Digital Filtering Options support Filters generated by dsPIC DSC Filter Design * ASM30 Assembler File Option to export Data Tables into dsPIC33F RAM (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 49 dsPIC33F 11.4.1 SIGNAL GENERATION 11.4.4 dsPICworksTM Data Analysis and DSP Software support an extensive set of signal generators, including basic sine, square and triangle wave generators, as well as advanced generators for window functions, unit step, unit sample, sine, exponential and noise functions. Noise, with specified distribution, can be added to any signal. Signals can be generated as 32-bit floating-point, or as 16-bit fractional fixed-point values, for any desired sampling rate. The length of the generated signal is limited only by available disk space. Signals can be imported or exported from or to MPLAB IDE file register windows. Multi-channel data can be created by a set of multiplexing functions. 11.4.2 DIGITAL SIGNAL PROCESSING (DSP) AND ARITHMETIC OPERATIONS dsPICworks Data Analysis and DSP Software have a wide range of DSP and arithmetic functions that can be applied to signals. Standard DSP functions include transform operations: FFT and DCT, convolution and correlation, signal decimation, signal interpolation sample rate conversion and digital filtering. Digital filtering is an important part of the dsPICworks tool. It uses filters designed by the sister-application, dsPIC DSC Filter Design, and applies them to synthesized or imported signals. The dsPICworks tool also features special operations, such as signal clipping, scaling and quantization, all of which are vital in real practical analysis of DSP algorithms. 11.4.3 FILE IMPORT/EXPORT - MPLAB IDE AND MPLAB ASM30 SUPPORT dsPICworks Data Analysis and DSP Software allow data to be imported from the external world in the form of ASCII text or binary files. Conversely, it also allows data to be exported out in the form of files. The dsPICworks tool supports all file formats supported by the MPLAB import/export table. This feature allows the user to bring real-world data from MPLAB IDE into the dsPICworks tool for analysis. The dsPICworks tool can also create ASM30 assembler files that can be included into the MPLAB workspace. 11.5 Digital Filter Design Software Utility The Digital Filter Design tool for the dsPIC33F 16-bit digital signal controllers makes designing, analyzing and implementing Finite Impulse Response (FIR) and Infinite Impulse Response (IIR) digital filters easy through a menu-driven, user-intuitive interface. This tool performs complex mathematical computations for filter design, provides superior graphical displays and generates comprehensive design reports. Desired filter frequency specifications are entered and the tool automatically generates the filter code and coefficient files ready to use in the MPLAB Integrated Development Environment (IDE). System analysis of the filter transfer function is supported with multiple generated graphs, such as magnitude, phase, group delay, log magnitude, impulse response and pole/zero locations. FIGURE 11-2: DISPLAY AND MEASUREMENT DIGITAL FILTER DESIGN TOOL INTERFACE dsPICworks Data Analysis and DSP Software have a wide variety of display and measurement options. Frequency domain data may be plotted in the form of 2-dimensional `spectrogram' and 3-dimensional `waterfall' options. The signals can be measured accurately by a simple mouse click. The log window shows current cursor coordinates, as well as derived values, such as the difference from last position and signal frequency. Signal strength can be measured over a particular range of frequencies. Special support also exists for displaying multi-channel and multiplexed data. Graphs allow zoom options. The user can choose from a set of color scheme options to customize display settings. DS70155C-page 50 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Key features of the Digital Filter Design tool include: Finite Impulse Response Filter Design * Design Method Selection - FIR Windows Design - FIR Equiripple Design (Parks-McClellan) * Low-Pass, High-Pass, Band-Pass and Band-Stop Filters * FIR Filters can have up to 513 taps * The following window functions are supported: - Rectangular - Hanning (Hann) - Hamming - Triangular - Blackman - Exact Blackman - 3 Term Cosine - 3 Term Cosine with Continuous 3rd Derivative - Minimum 3 Term Cosine - 4 Term Cosine - 4 Term Cosine with continuous 5th Derivative - Minimum 4 Term Cosine - Good 4 Term Blackman Harris - Harris Flat Top - Kaiser - Dolph-Tschebyscheff - Taylor - Gaussian * Reports show design details, such as window coefficients and impulse response prior to multiplying by the window function Infinite Impulse Response Filter Design * Low-Pass, High-Pass, Band-Pass and Band-Stop Filters * Filter Orders up to 10 for Low-Pass and High-Pass Filters * Filter Orders up to 20 for Band-Pass and Band-Stop Filters * Five Analog Prototype Filters are available: - Butterworth - Tschebyscheff - Inverse Tschebyscheff - Elliptic - Bessel * Digital Transformations are performed by Bilinear Transformation Method * Reports show design details, such as all transformations from normalized low-pass filter to desired filter (c) 2005 Microchip Technology Inc. Code Generation Features * Generated files are compliant with the Microchip dsPIC33F C30 C Compiler, Assembler and Linker * Choice of placement of coefficients in Program Space or Data Space * `C' Wrapper/Header Code Generation Graphs * Magnitude Response vs. Frequency * Log Magnitude vs. Frequency * Phase Response vs. Frequency * Group Delay vs. Frequency * Impulse Response vs. Time (per sample) * Step Response vs. Time (per sample) * Pole and Zero Locations (IIR only) 11.6 Microchip TCP/IP Stack The free Microchip TCP/IP Stack is a suite of programs that can provide services to standard (HTTP Server, Mail Client, etc.) or custom TCP/IP-based applications. Users do not need to be an expert in TCP/IP specifications to use it and only need specific knowledge of TCP/IP in the accompanying HTTP Server application. This stack is implemented in a modular fashion, with all of its services creating highly abstracted layers, each layer accessing services from one or more layers directly below it. The stack is optimized for size and is designed to run on the dsPIC33F using the dsPICDEM.netTM Development Board; however, it can be easily retargeted to any hardware equipped with a dsPIC33F. HTML web pages generated by the dsPIC33F can be viewed with a standard web browser such as Microsoft Internet Explorer. Key features of the Microchip TCP/IP Stack include: * Out-of-box support for Microchip C30 C Compiler * Implements complete TCP state machine * Multiple TCP and UDP sockets with simultaneous connection/management * Includes modules supporting various standard protocols: MAC, SLIP, ARP, IP, ICMP, TCP, SNMP, UDP, DHCP, FTP, IP Gleaning, HTTP, MPFS (Microchip File System) * Can be used as a part of the HTTP Server (included) or any custom TCP/IP-based application * RTOS independent Preliminary DS70155C-page 51 dsPIC33F 11.7 Soft Modem Library 11.8 The Microchip data modem library is composed of ITU-T compliant algorithms for V.21, V.22, V.22bis, V.23, V.32 and V.32bis modem recommendations. Bell standard 103 is also included in this library. V.21, V.23 and Bell 103 are Frequency Shift Keying (FSK) modems. V.32, V.32bis and V.22bis are Quadrature Amplitude Modulation (QAM) modems. V.22 is a Quadrature Phase Shift Keying (QPSK) modem. V.21, V.22, V.22bis, V.32 and V.32bis are all 2-wire, fullduplex modems. V.23 is a full-duplex modem when it operates with a 75 bps backwards channel. V.22bis includes fallback to V.22, V.23 and V.21 standards. V.32bis optionally falls back to V.22bis, V.22 and V.21 standards. The dsPIC DSC Soft Modem is well-suited for small transaction oriented applications, such as, but not limited to: * * * * * * * * * POS Terminals Set Top Boxes Drop Boxes Fire Panels Internet Enabled Home Security Systems Internet Connected Power, Gas and Water Meters Internet Connected Vending Machines Smart Appliances Industrial Monitoring Functions supporting ITU-T Recommendation V.42 are provided with each library. V.42 contains a High-Level Data Link Control (HDLC) protocol, referred to as Link Access Procedure for Modems (LAPM) and defines error correcting protocols for modems. All data pump modulation and demodulation functions are written in ASM30 assembly code yielding optimal code size and execution time. The AT, V.42 and data pump APIs are written in C30 C Compiler language. Electronic documentation accompanies the modem library to help you become familiar with and implement the library functions. A comprehensive "dsPIC30F Soft Modem Library User's Guide" describes the required APIs for the AT, V.42 and data pump layers. Speech Recognition Library The dsPIC Speech Recognition Library provides voice control of embedded applications that require an alternative user interface. With a vocabulary of up to 100 words, the Speech Recognition Library allows users to control their application using spoken commands. The Speech Recognition Library is an ideal front end for hands-free products, such as modem appliances, security panels and cell phones. The Speech Recognition Library has very modest memory and processing requirements and is targeted for the dsPIC30F5011, dsPIC30F5013, dsPIC30F6012 and dsPIC30F6014 processors. Key features of the dsPIC DSC Speech Recognition Library include: * US English language support * Speaker independent recognition of isolated words * No speaker training is required * Hidden Markov Modem-based recognition system * Recognition time < 500 msec * Master library of 100 common words (listed in the "dsPIC30F Speech Recognition Library User's Guide") * Windows operating system-based utility allows the user to create a custom word library from the master library * Additional words can be added to the master library (fee based) * Data tables can be stored in external memory * Optional keyword activation and silence detection * Optional system self-test using a predefined keyword * Flexible API * Full compliance with Microchip MPLAB C30 C Compiler Language Tools * "dsPIC30F Speech Recognition Library User's Guide" and "dsPIC30F Word Library Builder User's Guide" * Designed to run on dsPICDEMTM 1.1 General Purpose Development Board (DM300014) 11.8.1 RESOURCE REQUIREMENTS * Sampling Interface: Si-3000 Audio Codec operating at 12.0 kHz * System Operating Frequency: 12.288, 18.432 or 24.576 MHz * Computational Power: 8 MIPS * Program Flash Memory: 18 KB + 1.5 KB for each library word * RAM: < 3.0 KB DS70155C-page 52 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 11.9 Noise Suppression Library 11.10 Acoustic Echo Cancellation Library The dsPIC DSC Noise Suppression Library provides a function to suppress the effect of noise interfering with a speech signal. This function is useful for microphonebased applications which have a potential for incoming speech getting corrupted by ambient noise captured by a microphone. It is especially suitable for systems in which an acoustically isolated noise reference is not available, such as: The Acoustic Echo Cancellation (AEC) Library provides a function to eliminate echo generated in the acoustic path between a speaker and a microphone. This function is useful for speech and telephony applications in which a speaker and a microphone are located in close proximity to each other and therefore, susceptible to signals propagating from the speaker to the microphone resulting in a perceptible and distracting echo effect at the far end. It is especially suitable for these applications: * * * * * * Hands-Free Cell Phone Kits Speakerphones Intercoms Teleconferencing Systems Headsets As a front end to a Speech Recognition or Speech Encoding system * Any microphone-based application that needs to eliminate undesired noise * Any application that needs to eliminate noise interference from signals received over a communication channel The Noise Suppression Library uses an 8 kHz sampling rate. However, the library includes sample rate conversion functions that ensure interoperability with libraries and speech sampling peripherals configured for higher sampling rates (9.6 kHz, 11.025 kHz or 12 kHz). Key features of the Noise Suppression Library include: * All functions can be called from either a `C' or assembly application program * Full compliance with the Microchip C30 C Compiler, Assembler and Linker * Precompiled library archive files * Highly optimized assembly code, utilizing DSP instructions and advanced addressing modes * Audio Bandwidth: 0-4 kHz at 8 kHz sampling rate * 10-20 dB noise reduction depending on type of noise * "dsPIC30F Noise Suppression Library User's Guide" * Demo application source code is provided * Accessory Kit available for purchase includes: audio cable, headset, oscillators, microphone, speaker, DB9 M/F RS-232 cable, DB9M-DB9M null modem adapter and can be used for library evaluation TABLE 11-5: Hands-Free Cell Phone Kits Speakerphones Intercoms Teleconferencing Systems For hands-free phones intended to be used in compact environments, such as a car cabin, this library is fully compliant with the G.167 standard for Acoustic Echo Cancellation. Like the Noise Suppression Library, the Acoustic Echo Cancellation Library also includes sample rate conversion functions. Key features of the AEC Library include: * All functions can be called from either a `C' or assembly application program * Full compliance with the Microchip C30 C Compiler, Assembler and Linker * Precompiled library archive files * Highly optimized assembly code, utilizing DSP instructions and advanced addressing modes * Echo cancellation for 16, 32 or 64 ms echo delay or `tail length' (configurable) * Fully tested for compliance with G.167 specifications for in-car applications * Audio Bandwidth: 0-4 kHz at 8 kHz sampling rate * Convergence Rate: up to 43 dB/sec., typically > 30 dB/sec. * Echo Cancellation: Up to 50 dB, typically > 40 dB * "dsPIC30F Acoustic Echo Cancellation Library User's Guide" * Demo application source code is provided * Accessory Kit available for purchase TABLE 11-6: MIPS Noise Suppression 3.3 Sample Rate Conversion 1.0 Flash 7 KB RAM 1 KB 2.6 KB 0.5 KB The user application might require an additional 1 KB-1.5 KB for data buffering (application-dependent). (c) 2005 Microchip Technology Inc. RESOURCE REQUIREMENTS Algorithm MIPS Flash RAM AEC - 64 ms Echo Tail 16.5 6 KB 5.7 KB AEC - 32 ms Echo Tail 10.5 6 KB 3.4 KB 6 KB 2.6 KB RESOURCE REQUIREMENTS Algorithm Note: * * * * AEC - 16 ms Echo Tail 7.5 Sample Rate Conversion 1.0 Note: Preliminary 2.6 KB 0.5 KB The user application might require an additional 2 KB-2.5 KB for data buffering (application-dependent). DS70155C-page 53 dsPIC33F 11.11 Symmetric Key Embedded Encryption Library 11.12 Asymmetric Key Embedded Encryption Library Microchip offers a reliable security solution for embedded applications built on the dsPIC33F platform. This solution is provided by means of two libraries - Symmetric Key and Asymmetric Key Embedded Encryption Libraries. The Symmetric Key Library includes the following: Microchip offers a reliable security solution for embedded applications built on the dsPIC33F platform. This solution is provided by means of two libraries - Symmetric Key and Asymmetric Key Embedded Encryption Libraries. The Asymmetric Key Library includes the following: * Hash functions - SHA-1 Secure Hash Standard - MD5 Message Digest * Symmetric Key Encryption/Decryption functions - Advanced Encryption Standard (AES) - Triple Data Encryption Standard (Triple-DES) * Random Number Generator functions - Deterministic Random Bit Generator ANSI X9.82 * Public Key Encryption/Decryption functions - RSA (1024 and 2048-bit) * Key Agreement Protocol - Diffie-Hellman (1024 and 2048-bit) * Signing and Verification - DSA (1024-bit) - RSA (1024 and 2048-bit) * Hash functions - SHA-1 Secure Hash Standard - MD5 Message Digest * Random Number Generator functions - ANSI X9.82 Some typical applications for this library include: * Mobile and Wireless Devices, PDAs * Secure Banking * Secure Web Transactions - Secure Socket Layer (SSL) - Transport Layer Security (TLS) - Secure Multipurpose Mail Extensions (S/MIME) * ZigBeeTM Technology and other Monitoring and Control Applications * Smart Card Readers/Trusted Card Readers * Friend/Foe Identification * Secure devices and peripherals interoperating with TCG (Trusted Computing Group) and NGSCB (Microsoft Next Generation Secure Computing Base) personal computers Some typical applications for this library include: Key features of the Symmetric Key Embedded Encryption Library include: * C-callable library functions developed in MPLAB ASM30 assembly language * Optimized for speed, code size and RAM usage - RAM usage below 60 bytes * Library functions extensively tested for adherence to applicable standards * Symmetric Key Encryption/Decryption functions support multiple modes of operation: - Electronic Code Book (ECB) mode - Cipher Block Chaining with Message Authentication (CBC-MAC) mode - Counter (CTR) mode - Combined CBC-MAC and CTR (CCM) mode * "dsPIC30F Embedded Encryption Libraries User's Guide" * Several examples of use are provided for each library function DS70155C-page 54 * Mobile and Wireless Devices, PDAs * Secure Banking * Secure Web Transactions - Secure Socket Layer (SSL) - Transport Layer Security (TLS) - Secure Multipurpose Mail Extensions (S/MIME) * ZigBee Technology and other Monitoring and Control Applications * Smart Card Readers/Trusted Card Readers * Friend/Foe Identification * Secure devices and peripherals interoperating with TCG (Trusted Computing Group) and NGSCB (Microsoft Next Generation Secure Computing Base) personal computers Key features of the Asymmetric Key Embedded Encryption Library include: * C-callable library functions developed in MPLAB ASM30 assembly language * Optimized for speed, code size and RAM usage - RAM usage below 100 bytes * Library functions extensively tested for adherence to applicable standards * "dsPIC30F Embedded Encryption Libraries User's Guide" * Several examples of use are provided for each library function Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 11.13 Speech Encoding/Decoding Library Key features of the Speech Encoding/Decoding Library include: The Speech Encoding/Decoding Library performs tollquality voice compression and voice decompression. The library is based on a modified version of the Speex speech encoder/decoder source code and features a 16:1 compression ratio. It samples speech at 8 kHz and compresses it to a data rate of 8 kbps. Storing compressed speech for playback requires approximately 1 KB of memory for each second of speech. The library is especially suitable for the following voice-based applications: * * * * * * * Answering Machines Building and Home Safety Systems Intercoms Smart Appliances Voice Recorders Walkie-Talkies Any Application using Message Playback * PESQ-based Mean Opinion Score: 3.7-4.2 (out of 5.0) * Code Excited Linear Prediction (CELP) based coding * 2 Analog Input Interfaces - codec or on-chip ADC * 2 Analog Output Interfaces - codec or on-chip PWM * Optional Voice Activity Detection * Storing compressed speech requires 1 KB of memory per second of speech * Royalty-free (only one-time license fee) * Full compliance with Microchip MPLAB C30 C Compiler Language Tools * "dsPIC30F Speech Encoding/Decoding Library User's Guide" * Designed to run on dsPICDEM 1.1 General Purpose Development Board (DM300014) A PC-based speech encoder utility program allows you to create your own encoded speech files for playback. Encoded speech files are made from either a PC microphone or existing WAV file. Once you create the encoded speech files, they are added to your MPLAB C30 project, just like a regular source file, and built into your application. The speech encoder utility allows you to select four target memory areas to store your speech file: program Flash memory, RAM and external Flash memory. External Flash memory allows you to store many minutes of speech (1 minute of speech requires 60 KB) and it is supported through a general purpose I/O port. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 55 dsPIC33F 12.0 THIRD PARTY DEVELOPMENT TOOLS AND APPLICATION LIBRARIES Besides providing development tools and application libraries for dsPIC33F products, Microchip also partners with key third party tool manufacturers to develop quality hardware and software tools in support of the dsPIC33F product family. Details of various third party development tools will be provided shortly. DS70155C-page 56 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F 13.0 dsPIC33F HARDWARE DEVELOPMENT BOARDS MPLAB In-Circuit Debugger (ICD 2) tool for costeffective debugging and programming of the dsPIC33F devices. These two boards are shown in Table 13-1. Microchip initially offers two hardware development boards that help you quickly prototype and validate key aspects of your design. Each board features various dsPIC33F peripherals and supports Microchip's Microchip plans to offer additional hardware development boards to support the dsPIC33F product family. Contact Microchip DSCD Marketing for additional information. TABLE 13-1: HARDWARE DEVELOPMENT BOARDS Accessory Kits Plug-in Samples Development Boards and Reference Designs Development Tool Description Part # From General Purpose Development Board dsPICDEMTM 80-Pin Starter Development Board DM300019 Microchip Explorer 16 Development Board DM240001 Microchip Plug-in Sample (see Section 13.3 Plug-in Modules) PC board with 80-pin dsPIC30F6014A general purpose MCU sample; use with DM300019 development board. MA300014 Microchip PC board with 100-pin dsPIC33F MCU sample; use with DM240001 development board. MA330011 Microchip PC board with 100-pin dsPIC33F MCU sample; use with DM300019 development board. MA330012 Microchip Accessory Kit includes: audio cable, headset, oscillators, microphone, speaker, DB9 M/F RS-232 cable, DB9M-DB9M Null Modem Adapter and can be used for library evaluation. AC300030 Microchip Acoustic Accessory Kit (see Section 13.3 Plug-in Modules) (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 57 dsPIC33F 13.1 dsPICDEMTM 80-Pin Starter Development Board 13.2 Explorer 16 Development Board This development board offers a very economical way to evaluate both the dsPIC30F and dsPIC33F General Purpose and Motor Control Family devices. This board is an ideal prototyping tool to help you quickly develop and validate key design requirements. This development board offers a very economical way to evaluate both the dsPIC33F General Purpose and Motor Control Family devices, as well as the PIC24F devices. This board is an ideal prototyping tool to help you quickly develop and validate key design requirements. Some key features and attributes of the dsPICDEM 80-Pin Starter Development Board include: Some key features and attributes of the Explorer 16 Development Board include: * Includes an 80-pin dsPIC30F6014A plug-in module (MA300014) * Power input from 9V supply * Selectable voltage regulator outputs of 5V and 3.3V * LEDs, switches, potentiometer, UART interface * A/D input filter circuit for speech band signal input * On-board DAC and filter for speech band signal output * Circuit prototyping area * Assembly language demonstration program and tutorial * Can accommodate 80-pin dsPIC30F6010 plug-in module (MA300013) * Can accommodate 100 to 80-pin adapter dsPIC33F plug-in module (MA330012) * Includes a 100-pin dsPIC33F plug-in module (MA330011) * Includes a 100-pin PIC24 plug-in module (part # TBD) * Power input from 9V supply * Modular design for plug-in demonstration boards, expansion header * ICD 2 and JTAG connection for reprogramming * USB and protocol translation support through PIC18F4450 * RS-232 connection with firmware and driver support * LED bank for general indication * Serial EEPROM * 16 x 2 alphanumeric LCD * Temperature sensor * Terminal interface program and menu programs FIGURE 13-1: DS70155C-page 58 dsPICDEMTM 80-PIN STARTER DEVELOPMENT BOARD FIGURE 13-2: Preliminary EXPLORER 16 DEVELOPMENT BOARD (c) 2005 Microchip Technology Inc. dsPIC33F 13.3 Plug-in Modules 13.4 The various dsPIC33F development boards may use the plug-in modules for the dsPIC33F silicon devices. Since the boards contain device header pins on the PCB, they also are used to provide flexibility for the replacement of the dsPIC33F silicon. Three different plug-in sample types will be provided, supporting the 64-pin, 80-pin and 100-pin TQFP package types for General Purpose and Motor Control Family device samples. The use of plug-in samples is considered to be an interim development board mechanization. (c) 2005 Microchip Technology Inc. Acoustic Accessory Kit The Acoustic Accessory Kit includes the following accessories targeted towards acoustics-oriented library (NS, AEC, etc.) evaluation and application development support: * * * * * * * 6 ft. Stereo Audio Cable Stereo Headset Two 14.7456 MHz Oscillators Clip-on Microphone Fold-up Speaker 6 ft. DB9 M/F RS-232 Cable DB9M-DB9M Null Modem Adapter Preliminary DS70155C-page 59 dsPIC33F APPENDIX A: TABLE A-1: DEVICE I/O PINOUTS AND FUNCTIONS FOR GENERAL PURPOSE FAMILY PINOUT I/O DESCRIPTIONS FOR GENERAL PURPOSE FAMILY Pin Type Input Buffer Type AN0-AN23 I Analog Pin Name Table A-1 provides a brief description of device I/O pinouts and functions that can be multiplexed to a port pin. Multiple functions may exist on one port pin. When multiplexing occurs, the peripheral module's functional requirements may force an override of the data direction of the port pin. Description Analog input channels. AVDD P P Positive supply for analog module. AVSS P P Ground reference for analog module. CLKI I ST/CMOS CLKO O -- CN0-CN23 I ST Input change notification inputs. Can be software programmed for internal weak pull-ups on all inputs. COFS CSCK CSDI CSDO I/O I/O I O ST ST ST -- Data Converter Interface frame synchronization pin. Data Converter Interface serial clock input/output pin. Data Converter Interface serial data input pin. Data Converter Interface serial data output pin. C1RX C1TX C2RX C2TX I O I O ST -- ST -- ECAN1 bus receive pin. ECAN1 bus transmit pin. ECAN2 bus receive pin. ECAN2 bus transmit pin. PGD1/EMUD1 PGC1/EMUC1 PGD2/EMUD2 PGC2/EMUC2 PGD3/EMUD3 PGC3/EMUC3 I/O I I/O I I/O I ST ST ST ST ST ST Data I/O pin for programming/debugging communication channel 1. Clock input pin for programming/debugging communication channel 1. Data I/O pin for programming/debugging communication channel 2. Clock input pin for programming/debugging communication channel 2. Data I/O pin for programming/debugging communication channel 3. Clock input pin for programming/debugging communication channel 3. IC1-IC8 I ST Capture inputs 1 through 8. INT0 INT1 INT2 INT3 INT4 I I I I I ST ST ST ST ST External interrupt 0. External interrupt 1. External interrupt 2. External interrupt 3. External interrupt 4. MCLR I/P ST Master Clear (Reset) input or programming voltage input. This pin is an active-low Reset to the device. OCFA OCFB OC1-OC8 I I O ST ST -- Compare Fault A input (for Compare Channels 1, 2, 3 and 4). Compare Fault B input (for Compare Channels 5, 6, 7 and 8). Compare outputs 1 through 8. OSC1 I ST/CMOS OSC2 I/O -- RA0-RA7 RA9-RA10 RA12-RA15 I/O I/O I/O ST ST ST PORTA is a bidirectional I/O port. RB0-RB15 I/O ST PORTB is a bidirectional I/O port. Legend: External clock source input. Always associated with OSC1 pin function. Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. Always associated with OSC2 pin function. Oscillator crystal input. ST buffer when configured in RC mode; CMOS otherwise. Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power DS70155C-page 60 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE A-1: PINOUT I/O DESCRIPTIONS FOR GENERAL PURPOSE FAMILY (CONTINUED) Pin Type Input Buffer Type RC1-RC4 RC12-RC15 I/O I/O ST ST PORTC is a bidirectional I/O port. RD0-RD15 I/O ST PORTD is a bidirectional I/O port. RE0-RE9 I/O ST PORTE is a bidirectional I/O port. RF0-RF8 RF12-RF13 I/O I/O ST ST PORTF is a bidirectional I/O port. RG0-RG3 RG6-RG9 RG12-RG15 I/O I/O I/O ST ST ST PORTG is a bidirectional I/O port. SCK1 SDI1 SDO1 SS1 SCK2 SDI2 SDO2 SS2 I/O I O I I/O I O I ST ST -- ST ST ST -- ST Synchronous serial clock input/output for SPI1. SPI1 data in. SPI1 data out. SPI1 slave synchronization. Synchronous serial clock input/output for SPI2. SPI2 data in. SPI2 data out. SPI2 slave synchronization. SCL1 SDA1 SCL2 SDA2 I/O I/O I/O I/O ST ST ST ST Synchronous serial clock input/output for I2C1. Synchronous serial data input/output for I2C1. Synchronous serial clock input/output for I2C2. Synchronous serial data input/output for I2C2. SOSCI SOSCO I O ST/CMOS -- TMS TCK TDI TDO I I/O I O ST ST ST -- JTAG Test mode select pin. JTAG test clock input/output pin. JTAG test data input pin. JTAG test data output pin. T1CK T2CK T3CK T4CK T5CK T6CK T7CK T8CK T9CK I I I I I I I I I ST ST ST ST ST ST ST ST ST Timer1 external clock Timer2 external clock Timer3 external clock Timer4 external clock Timer5 external clock Timer6 external clock Timer7 external clock Timer8 external clock Timer9 external clock U1CTS U1RTS U1RX U1TX U2CTS U2RTS U2RX U2TX I O I O I O I O ST -- ST -- ST -- ST -- UART1 clear to send. UART1 ready to send. UART1 receive. UART1 transmit. UART2 clear to send. UART2 ready to send. UART2 receive. UART2 transmit. VDD P -- Positive supply for peripheral logic and I/O pins. VDDCORE P -- CPU logic filter capacitor connection. VSS P -- Ground reference for logic and I/O pins. VREF+ I Analog Analog voltage reference (high) input. VREF- I Analog Analog voltage reference (low) input. Pin Name Legend: Description 32 kHz low-power oscillator crystal input; CMOS otherwise. 32 kHz low-power oscillator crystal output. input. input. input. input. input. input. input. input. input. CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 61 dsPIC33F Pins Program Flash Memory (KB) RAM (KB)(1) Output Compare Std. PWM Codec Interface UART SPITM I2CTM CAN I/O Pins (Max)(2) Packages 33FJ128GP706 64 128 17 9 8 8 1 2 A/D, 18 ch 2 2 2 2 53 PT 33FJ128GP708 80 128 17 9 8 8 1 2 A/D, 24 ch 2 2 2 2 69 PT 33FJ256GP710 100 256 33 9 8 8 1 2 A/D, 32 ch 2 2 2 2 86 PF Note 1: 2: Note: A/D Converter Device Input Capture dsPIC33F GENERAL PURPOSE FAMILY VARIANTS (DEVICES MARKED "PS") Timer 16-bit TABLE A-2: RAM size is inclusive of 1 KB DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions. Prototype samples are intended for dsPIC33F early adopters and are based on early revision silicon. Devices are marked with "PS" suffix. Major differences are noted in this data sheet. For additional information, please refer to the "dsPIC33F Data Sheet". DS70155C-page 62 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 CSDO/RG13 CSDI/RG12 CSCK/RG14 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ128GP706* 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/T4CK/CN1/RC13 EMUC2/OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 U1RX/SDI1/RF2 EMUD3/U1TX/SDO1/RF3 PGC/EMUC/AN6/OCFA/RB6 PGD/EMUD/AN7/RB7 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 AN1/VREF-/CN3/RB1 AN0/VREF+/CN2/RB0 *Device is marked with `PS' designator. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 63 dsPIC33F Pin Diagrams (Continued) IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 OC7/CN15/RD6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 CSCK/RG14 AN23/CN23/RA7 AN22/CN22/RA6 CSDI/RG12 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 CSDO/RG13 80-Pin TQFP 1 60 EMUC1/SOSCO/T1CK/CN0/RC14 AN16/T2CK/T7CK/RC1 2 59 EMUD1/SOSCI/CN1/RC13 AN17/T3CK/T6CK/RC2 3 58 EMUC2/OC1/RD0 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 4 57 5 56 IC4/RD11 IC3/RD10 6 55 IC2/RD9 SDI2/CN9/RG7 7 54 IC1/RD8 SDO2/CN10/RG8 8 53 SDA2/INT4/RA15 SCL2/INT3/RA14 VSS COFS/RG15 9 52 SS2/CN11/RG9 VSS 10 51 VDD 12 49 OSC2/CLKO/RC15 OSC1/CLKIN/RC12 AN20/INT1/RA12 13 48 VDD AN21/INT2/RA13 AN5/CN7/RB5 AN4/CN6/RB4 14 47 SCL1/RG2 15 46 SDA1/RG3 16 45 EMUC3/SCK1/INT0/RF6 AN3/CN5/RB3 17 44 SDI1/RF7 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 18 43 SDO1/RF8 19 42 U1RX/RF2 PGD/EMUD/AN0/CN2/RB0 20 41 EMUD3/U1TX/RF3 29 30 31 32 33 34 35 36 37 38 39 40 AN11/RB11 VSS VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 28 AVDD AN9/RB9 25 50 AN10/RB10 24 VREF+/RA10 27 23 VREF-/RA9 26 22 AVSS 21 AN7/RB7 AN8/RB8 dsPIC33FJ128GP708* 11 AN6/OCFA/RB6 MCLR *Device is marked with `PS' designator. DS70155C-page 64 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 100-Pin TQFP COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD RA0 AN20/INT1/RA12 AN21/INT2/RA13 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 dsPIC33FJ256GP710* 75 74 VSS EMUC1/SOSCO/T1CK/CN0/RC14 73 72 EMUD1/SOSCI/CN1/RC13 71 70 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 69 IC2/RD9 68 67 66 IC1/RD8 INT4/RA15 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD RA5 RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 EMUD3/U1TX/RF3 AN6/OCFA/RB6 AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGD/EMUD/AN0/CN2/RB0 1 *Device is marked with `PS' designator. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 65 dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ64GP206 dsPIC33FJ128GP206 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/CN17/RF4 U2TX/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 DS70155C-page 66 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ64GP306 dsPIC33FJ128GP306 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 67 dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ256GP506 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 DS70155C-page 68 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 CSDO/RG13 CSDI/RG12 CSCK/RG14 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ64GP706 dsPIC33FJ128GP706 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 69 dsPIC33F Pin Diagrams (Continued) OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 CSCK/RG14 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 OC7/CN15/RD6 CSDO/RG13 CSDI/RG12 80 79 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 80-Pin TQFP COFS/RG15 AN16/T2CK/T7CK/RC1 1 60 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 2 59 PGD2/EMUD2/SOSCI/CN1/RC13 AN17/T3CK/T6CK/RC2 58 OC1/RD0 AN18/T4CK/T9CK/RC3 3 4 57 IC4/RD11 AN19/T5CK/T8CK/RC4 5 56 IC3/RD10 SCK2/CN8/RG6 6 55 IC2/RD9 SDI2/CN9/RG7 7 54 IC1/RD8 SDA2/INT4/RA15 52 SCL2/INT3/RA14 SS2/CN11/RG9 8 9 10 53 51 VSS VSS 11 50 VDD 12 49 OSC2/CLKO/RC15 OSC1/CLKIN/RC12 TMS/AN20/INT1/RE8 13 48 TDO/AN21/INT2/RE9 14 47 VDD SCL1/RG2 AN5/CN7/RB5 15 16 46 SDA1/RG3 AN4/CN6/RB4 45 SCK1/INT0/RF6 AN3/CN5/RB3 17 44 SDI1/RF7 AN2/SS1/LVDIN/CN4/RB2 18 43 SDO1/RF8 PGC3/EMUC3/AN1/CN3/RB1 19 42 U1RX/RF2 PGD3/EMUD3/AN0/CN2/RB0 20 41 U1TX/RF3 DS70155C-page 70 27 28 29 30 31 32 33 34 35 36 37 38 39 40 AN10/RB10 AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 25 AVDD AN9/RB9 24 VREF+/RA10 26 23 AVSS 22 VREF-/RA9 U2CTS/AN8/RB8 21 dsPIC33FJ64GP708 dsPIC33FJ128GP708 PGD1/EMUD1/AN7/RB7 MCLR PGC1/EMUC1/AN6/OCFA/RB6 SDO2/CN10/RG8 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/INT1/RE8 AN21/INT2/RE9 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 1 75 VSS 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 74 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 73 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 PGD3/EMUD3/AN0/CN2/RB0 25 71 70 69 68 67 66 dsPIC33FJ64GP310 dsPIC33FJ128GP310 65 64 63 62 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS 61 60 OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 59 58 SDA2/RA3 SCL2/RA2 57 56 55 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 54 53 52 51 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGC3/EMUC3/AN1/CN3/RB1 23 24 72 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 71 dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/INT1/RE8 AN21/INT2/RE9 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 75 74 VSS PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 73 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 5 6 7 8 9 71 70 69 68 67 66 72 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 dsPIC33FJ256GP510 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGD3/EMUD3/AN0/CN2/RB0 1 2 3 4 DS70155C-page 72 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/INT1/RE8 AN21/INT2/RE9 AN5/CN7/RB5 AN4/CN6/RB4 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 73 72 dsPIC33FJ64GP710 dsPIC33FJ128GP710 dsPIC33FJ256GP710 VSS PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 71 70 69 IC4/RD11 IC3/RD10 IC2/RD9 68 67 66 IC1/RD8 INT4/RA15 65 64 63 62 61 60 59 58 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 SDA2/RA3 SCL2/RA2 57 56 55 54 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 53 52 51 SDO1/RF8 U1RX/RF2 SDI1/RF7 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0 75 74 1 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 73 dsPIC33F APPENDIX B: TABLE B-1: DEVICE I/O PINOUTS AND FUNCTIONS FOR MOTOR CONTROL FAMILY PINOUT I/O DESCRIPTIONS FOR MOTOR CONTROL FAMILY Pin Type Buffer Type AN0-AN23 I Analog Pin Name Table B-1 provides a brief description of device I/O pinouts and the functions that may be multiplexed to a port pin. Multiple functions may exist on one port pin. When multiplexing occurs, the peripheral module's functional requirements may force an override of the data direction of the port pin. Description Analog input channels. AN0 and AN1 are also used for device programming data and clock inputs, respectively. AVDD P P Positive supply for analog module. AVSS P P Ground reference for analog module. CLKI CLKO I O CN0-CN23 I ST Input change notification inputs. Can be software programmed for internal weak pull-ups on all inputs. COFS CSCK CSDI CSDO I/O I/O I O ST ST ST -- Data Converter Interface frame synchronization pin. Data Converter Interface serial clock input/output pin. Data Converter Interface serial data input pin. Data Converter Interface serial data output pin. C1RX C1TX C2RX C2TX I O I O ST -- ST -- CAN1 bus receive pin. CAN1 bus transmit pin. CAN2 bus receive pin. CAN2 bus transmit pin. PGD1/EMUD1 PGC1/EMUC1 PGD2/EMUD2 PGC2/EMUC2 PGD3/EMUD3 PGC3/EMUC3 I/O I I/O I I/O I ST ST ST ST ST ST Data I/O pin for programming/debugging communication channel 1. Clock input pin for programming/debugging communication channel 1. Data I/O pin for programming/debugging communication channel 2. Clock input pin for programming/debugging communication channel 2. Data I/O pin for programming/debugging communication channel 3. Clock input pin for programming/debugging communication channel 3. IC1-IC8 I ST Capture inputs 1 through 8. INDX QEA I I ST ST QEB I ST UPDN O CMOS Quadrature Encoder Index Pulse input. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Position Up/Down Counter Direction State. INT0 INT1 INT2 INT3 INT4 I I I I I ST ST ST ST ST External interrupt 0. External interrupt 1. External interrupt 2. External interrupt 3. External interrupt 4. FLTA FLTB PWM1L PWM1H PWM2L PWM2H PWM3L PWM3H PWM4L PWM4H I I O O O O O O O O ST ST -- -- -- -- -- -- -- -- PWM Fault A input. PWM Fault B input. PWM 1 low output. PWM 1 high output. PWM 2 low output. PWM 2 high output. PWM 3 low output. PWM 3 high output. PWM 4 low output. PWM 4 high output. Legend: ST/CMOS External clock source input. Always associated with OSC1 pin function. -- Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. Always associated with OSC2 pin function. CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power DS70155C-page 74 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F TABLE B-1: PINOUT I/O DESCRIPTIONS FOR MOTOR CONTROL FAMILY (CONTINUED) Pin Type Buffer Type MCLR I/P ST Master Clear (Reset) input or programming voltage input. This pin is an active-low Reset to the device. OCFA OCFB OC1-OC8 I I O ST ST -- Compare Fault A input (for Compare Channels 1, 2, 3 and 4). Compare Fault B input (for Compare Channels 5, 6, 7 and 8). Compare outputs 1 through 8. OSC1 OSC2 I I/O RA0-RA7 RA9-RA10 RA12-RA15 I/O I/O I/O ST ST ST PORTA is a bidirectional I/O port. RB0-RB15 I/O ST PORTB is a bidirectional I/O port. RC1-RC4 RC12-RC15 I/O I/O ST ST PORTC is a bidirectional I/O port. RD0-RD15 I/O ST PORTD is a bidirectional I/O port. RE0-RE9 I/O ST PORTE is a bidirectional I/O port. RF0-RF8 RF12-RF13 I/O ST PORTF is a bidirectional I/O port. RG0-RG3 RG6-RG9 RG12-RG15 I/O I/O I/O ST ST ST PORTG is a bidirectional I/O port. SCK1 SDI1 SDO1 SS1 SCK2 SDI2 SDO2 SS2 I/O I O I I/O I O I ST ST -- ST ST ST -- ST Synchronous serial clock input/output for SPI1. SPI1 data in. SPI1 data out. SPI1 slave synchronization. Synchronous serial clock input/output for SPI2. SPI2 data in. SPI2 data out. SPI2 slave synchronization. SCL1 SDA1 SCL2 SDA2 I/O I/O I/O I/O ST ST ST ST Synchronous serial clock input/output for I2C1. Synchronous serial data input/output for I2C1. Synchronous serial clock input/output for I2C2. Synchronous serial data input/output for I2C2. SOSCI SOSCO I O TMS TCK TDI TDO I I/O I O ST ST ST -- JTAG Test mode select pin. JTAG test clock input/output pin. JTAG test data input pin. JTAG test data output pin. T1CK T2CK T3CK T4CK T5CK T6CK T7CK T8CK T9CK I I I I I I I I I ST ST ST ST ST ST ST ST ST Timer1 external clock input. Timer2 external clock input. Timer3 external clock input. Timer4 external clock input. Timer5 external clock input. Timer6 external clock input. Timer7 external clock input. Timer8 external clock input. Timer9 external clock input. Pin Name Legend: Description ST/CMOS Oscillator crystal input. ST buffer when configured in RC mode; CMOS otherwise. -- Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. ST/CMOS 32 kHz low-power oscillator crystal input; CMOS otherwise. -- 32 kHz low-power oscillator crystal output. CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 75 dsPIC33F TABLE B-1: PINOUT I/O DESCRIPTIONS FOR MOTOR CONTROL FAMILY (CONTINUED) Pin Type Buffer Type U1CTS U1RTS U1RX U1TX U2CTS U2RTS U2RX U2TX I O I O I O I O ST -- ST -- ST -- ST -- UART1 clear to send. UART1 ready to send. UART1 receive. UART1 transmit. UART2 clear to send. UART2 ready to send. UART2 receive. UART2 transmit. VDD P -- Positive supply for peripheral logic and I/O pins. VDDCORE P -- CPU logic filter capacitor connection. VSS P -- Ground reference for logic and I/O pins. VREF+ I Analog Analog voltage reference (high) input. VREF- I Analog Analog voltage reference (low) input. Pin Name Legend: Description CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power Input Capture Output Compare Std. PWM Motor Control PWM Quadrature Encoder Interface Codec Interface A/D Converter UART SPITM I2CTM CAN I/O Pins (Max)(2) dsPIC33F MOTOR CONTROL FAMILY VARIANTS (DEVICES MARKED "PS") Timer 16-bit TABLE B-2: Packages 33FJ128MC706 64 128 17 9 8 8 8 ch 1 0 2 A/D, 16 ch 2 2 2 1 53 PT 33FJ128MC708 80 128 17 9 8 8 8 ch 1 0 2 A/D, 18 ch 2 2 2 1 69 PT 33FJ256MC710 100 256 33 9 8 8 8 ch 1 0 2 A/D, 24 ch 2 2 2 2 86 PF Program Flash RAM Pins Memory (KB)(1) (KB) Device Note 1: 2: Note: RAM size is inclusive of 1 KB DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions. Prototype samples are intended for dsPIC33F early adopters and are based on early revision silicon. Devices are marked with "PS" suffix. Major differences are noted in this data sheet. For additional information, please refer to the "dsPIC33F Data Sheet". DS70155C-page 76 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ128MC706* 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/T4CK/CN1/RC13 EMUC2/OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 U1RX/SDI1/RF2 EMUD3/U1TX/SDO1/RF3 PGC/EMUC/AN6/OCFA/RB6 PGD/EMUD/AN7/RB7 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 AN1/VREF-/CN3/RB1 AN0/VREF+/CN2/RB0 *Device is marked with `PS' designator. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 77 dsPIC33F Pin Diagrams (Continued) PWM3H/RE5 IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 63 62 61 OC5/CN13/RD4 IC6/CN19/RD13 OC8/CN16/UPDN/RD7 OC7/CN15/RD6 OC6/CN14/RD5 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE CRX2/RG0 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 PWM3L/RE4 PWM2H/RE3 80-Pin TQFP 1 60 EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/CN1/RC13 PWM4L/RE6 2 59 PWM4H/RE7 3 58 EMUC2/OC1/RD0 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 4 57 IC4/RD11 5 56 IC3/RD10 SCK2/CN8/RG6 6 55 IC2/RD9 SDI2/CN9/RG7 7 54 IC1/RD8 SDO2/CN10/RG8 8 53 SDA2/INT4/RA15 MCLR 9 52 SCL2/INT3/RA14 SS2/CN11/RG9 10 51 VSS VSS 11 50 OSC2/CLKO/RC15 VDD 12 49 OSC1/CLKIN/RC12 FLTA/INT1/RE8 13 48 VDD FLTB/INT2/RE9 14 47 SCL1/RG2 AN5/QEB/CN7/RB5 15 46 SDA1/RG3 AN4/QEA/CN6/RB4 16 45 EMUC3/SCK1/INT0/RF6 AN3/INDX/CN5/RB3 17 44 SDI1/RF7 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 18 43 SDO1/RF8 19 42 U1RX/RF2 PGD/EMUD/AN0/CN2/RB0 20 41 EMUD3/U1TX/RF3 31 32 33 34 35 36 37 38 39 40 VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 28 AN9/RB9 30 27 AN8/RB8 VSS 25 26 AVDD 29 24 AN11/RB11 23 VREF-/RA9 VREF+/RA10 AN10/RB10 22 AN7/RB7 AVSS 21 AN6/OCFA/RB6 dsPIC33FJ128MC708* *Device is marked with `PS' designator. DS70155C-page 78 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 100-Pin TQFP COFS/RG15 1 75 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD RA0 2 3 4 5 6 74 VSS EMUC1/SOSCO/T1CK/CN0/RC14 73 EMUD1/SOSCI/CN1/RC13 72 71 70 69 68 67 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 AN20/FLTA/INT1/RA12 AN21/FLTB/INT2/RA13 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 66 64 63 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 62 61 VDD RA5 65 12 13 14 15 16 17 18 19 20 21 22 23 24 25 dsPIC33FJ256MC710* IC1/RD8 INT4/RA15 60 59 58 RA4 SDA2/RA3 SCL2/RA2 57 56 55 SCL1/RG2 54 53 52 SDI1/RF7 SDO1/RF8 51 SDA1/RG3 EMUC3/SCK1/INT0/RF6 U1RX/RF2 EMUD3/U1TX/RF3 AN6/OCFA/RB6 AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGD/EMUD/AN0/CN2/RB0 7 8 9 10 11 *Device is marked with `PS' designator. (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 79 dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ64MC506 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/CN17/RF4 U2TX/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 DS70155C-page 80 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64-Pin TQFP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 dsPIC33FJ128MC506 dsPIC33FJ64MC506 dsPIC33FJ128MC706 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 81 dsPIC33F Pin Diagrams (Continued) IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 63 62 61 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 OC7/CN15/RD6 OC8/CN16/UPDN/RD7 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 CRX2/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 PWM3L/RE4 PWM2H/RE3 80-Pin TQFP PWM3H/RE5 1 60 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PWM4L/RE6 2 59 PGD2/EMUD2/SOSCI/CN1/RC13 PWM4H/RE7 3 58 OC1/RD0 AN16/T2CK/T7CK/RC1 4 57 IC4/RD11 AN17/T3CK/T6CK/RC2 5 56 IC3/RD10 SCK2/CN8/RG6 6 55 IC2/RD9 SDI2/CN9/RG7 7 54 IC1/RD8 SDO2/CN10/RG8 8 53 INT4/RA15 MCLR 9 52 SS2/CN11/RG9 VSS 10 51 INT3/RA14 VSS 50 OSC2/CLKO/RC15 VDD 12 49 OSC1/CLKIN/RC12 TMS/FLTA/INT1/RE8 13 48 VDD TDO/FLTB/INT2/RE9 14 47 SCL1/RG2 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 15 16 46 SDA1/RG3 45 SCK1/INT0/RF6 AN3/INDX/CN5/RB3 17 44 SDI1/RF7 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 18 43 SDO1/RF8 19 42 U1RX/RF2 PGD3/EMUD3/AN0/CN2/RB0 20 41 U1TX/RF3 DS70155C-page 82 36 37 38 39 40 U2RTS/AN14/RB14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 34 TDI/AN13/RB13 AN15/OCFB/CN12/RB15 IC7/U1CTS/CN20/RD14 33 Preliminary 35 32 28 AN9/RB9 TCK/AN12/RB12 27 U2CTS/AN8/RB8 31 26 AVSS VDD 25 AVDD 30 24 VSS 23 VREF-/RA9 VREF+/RA10 29 22 PGD1/EMUD1/AN7/RB7 AN11/RB11 21 PGC1/EMUC1/AN6/OCFA/RB6 AN10/RB10 dsPIC33FJ64MC508 11 (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) OC2/RD1 62 61 IC5/RD12 OC4/RD3 OC3/RD2 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/UPDN/RD7 CRX2/RG0 C2TX/RG1 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 PWM3L/RE4 PWM2H/RE3 80-Pin TQFP PWM3H/RE5 1 60 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PWM4L/RE6 2 59 PGD2/EMUD2/SOSCI/CN1/RC13 PWM4H/RE7 3 58 OC1/RD0 AN16/T2CK/T7CK/RC1 4 57 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 5 56 IC4/RD11 IC3/RD10 6 55 IC2/RD9 SDI2/CN9/RG7 SDO2/CN10/RG8 7 54 IC1/RD8 8 53 SDA2/INT4/RA15 MCLR 9 52 SCL2/INT3/RA14 SS2/CN11/RG9 10 51 VSS VSS 11 12 50 OSC2/CLKO/RC15 49 OSC1/CLKIN/RC12 48 VDD TDO/FLTB/INT2/RE9 13 14 47 SCL1/RG2 AN5/QEB/CN7/RB5 15 46 SDA1/RG3 AN4/QEA/CN6/RB4 16 45 SCK1/INT0/RF6 AN3/INDX/CN5/RB3 17 44 SDI1/RF7 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 18 43 SDO1/RF8 19 42 U1RX/RF2 PGD3/EMUD3/AN0/CN2/RB0 20 41 U1TX/RF3 35 36 37 38 39 40 IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 34 U2RTS/AN14/RB14 33 TDI/AN13/RB13 Preliminary AN15/OCFB/CN12/RB15 32 TCK/AN12/RB12 28 AN9/RB9 31 27 U2CTS/AN8/RB8 VDD 26 AVSS 30 25 AVDD VSS 24 AN11/RB11 23 VREF-/RA9 VREF+/RA10 29 22 (c) 2005 Microchip Technology Inc. AN10/RB10 21 PGD1/EMUD1/AN7/RB7 TMS/FLTA/INT1/RE8 PGC1/EMUC1/AN6/OCFA/RB6 VDD dsPIC33FJ128MC708 DS70155C-page 83 dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS 1 75 VSS 2 3 4 5 6 7 8 9 10 11 12 74 73 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 72 OC1/RD0 IC4/RD11 PGC3/EMUC3/AN1/CN3/RB1 13 14 15 16 17 18 19 20 21 22 23 24 PGD3/EMUD3/AN0/CN2/RB0 25 VDD TMS/RA0 AN20/FLTA/INT1/RE8 AN21/FLTB/INT2/RE9 70 69 68 67 66 65 64 dsPIC33FJ64MC510 63 62 61 60 59 58 57 56 55 54 53 52 51 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 RA3 RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 71 PGD2/EMUD2/SOSCI/CN1/RC13 DS70155C-page 84 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/FLTA/INT1/RE8 AN21/FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 75 VSS 2 3 4 5 6 7 8 9 10 11 12 74 73 PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 13 14 15 16 17 18 19 20 21 22 23 24 25 72 71 70 69 68 67 66 dsPIC33FJ128MC510 dsPIC33FJ256MC510 65 64 63 62 61 60 59 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 SDA2/RA3 58 57 56 55 54 SCL2/RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 53 52 51 SDO1/RF8 U1RX/RF2 SDI1/RF7 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGD3/EMUD3/AN0/CN2/RB0 1 (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 85 dsPIC33F Pin Diagrams (Continued) 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1 100-Pin TQFP COFS/RG15 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/FLTA/INT1/RE8 AN21/FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 75 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 74 73 72 71 70 69 68 67 66 65 dsPIC33FJ64MC710 dsPIC33FJ128MC710 dsPIC33FJ256MC710 64 63 62 61 60 59 58 57 56 55 54 53 52 51 VSS PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3 PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 PGD3/EMUD3/AN0/CN2/RB0 1 DS70155C-page 86 Preliminary (c) 2005 Microchip Technology Inc. dsPIC33F NOTES: (c) 2005 Microchip Technology Inc. Preliminary DS70155C-page 87 WORLDWIDE SALES AND SERVICE AMERICAS ASIA/PACIFIC ASIA/PACIFIC EUROPE Corporate Office 2355 West Chandler Blvd. Chandler, AZ 85224-6199 Tel: 480-792-7200 Fax: 480-792-7277 Technical Support: http://support.microchip.com Web Address: www.microchip.com Australia - Sydney Tel: 61-2-9868-6733 Fax: 61-2-9868-6755 India - Bangalore Tel: 91-80-2229-0061 Fax: 91-80-2229-0062 China - Beijing Tel: 86-10-8528-2100 Fax: 86-10-8528-2104 India - New Delhi Tel: 91-11-5160-8631 Fax: 91-11-5160-8632 Austria - Weis Tel: 43-7242-2244-399 Fax: 43-7242-2244-393 Denmark - Copenhagen Tel: 45-4450-2828 Fax: 45-4485-2829 China - Chengdu Tel: 86-28-8676-6200 Fax: 86-28-8676-6599 India - Pune Tel: 91-20-2566-1512 Fax: 91-20-2566-1513 France - Paris Tel: 33-1-69-53-63-20 Fax: 33-1-69-30-90-79 China - Fuzhou Tel: 86-591-8750-3506 Fax: 86-591-8750-3521 Japan - Yokohama Tel: 81-45-471- 6166 Fax: 81-45-471-6122 Germany - Munich Tel: 49-89-627-144-0 Fax: 49-89-627-144-44 China - Hong Kong SAR Tel: 852-2401-1200 Fax: 852-2401-3431 Korea - Gumi Tel: 82-54-473-4301 Fax: 82-54-473-4302 China - Qingdao Tel: 86-532-8502-7355 Fax: 86-532-8502-7205 Korea - Seoul Tel: 82-2-554-7200 Fax: 82-2-558-5932 or 82-2-558-5934 Atlanta Alpharetta, GA Tel: 770-640-0034 Fax: 770-640-0307 Boston Westborough, MA Tel: 774-760-0087 Fax: 774-760-0088 Chicago Itasca, IL Tel: 630-285-0071 Fax: 630-285-0075 Dallas Addison, TX Tel: 972-818-7423 Fax: 972-818-2924 Detroit Farmington Hills, MI Tel: 248-538-2250 Fax: 248-538-2260 Kokomo Kokomo, IN Tel: 765-864-8360 Fax: 765-864-8387 Los Angeles Mission Viejo, CA Tel: 949-462-9523 Fax: 949-462-9608 San Jose Mountain View, CA Tel: 650-215-1444 Fax: 650-961-0286 China - Shanghai Tel: 86-21-5407-5533 Fax: 86-21-5407-5066 China - Shenyang Tel: 86-24-2334-2829 Fax: 86-24-2334-2393 Malaysia - Penang Tel: 604-646-8870 Fax: 604-646-5086 China - Shenzhen Tel: 86-755-8203-2660 Fax: 86-755-8203-1760 China - Shunde Tel: 86-757-2839-5507 Fax: 86-757-2839-5571 China - Wuhan Tel: 86-27-5980-5300 Fax: 86-27-5980-5118 China - Xian Tel: 86-29-8833-7250 Fax: 86-29-8833-7256 Philippines - Manila Tel: 632-634-9065 Fax: 632-634-9069 Italy - Milan Tel: 39-0331-742611 Fax: 39-0331-466781 Netherlands - Drunen Tel: 31-416-690399 Fax: 31-416-690340 Spain - Madrid Tel: 34-91-352-30-52 Fax: 34-91-352-11-47 UK - Wokingham Tel: 44-118-921-5869 Fax: 44-118-921-5820 Singapore Tel: 65-6334-8870 Fax: 65-6334-8850 Taiwan - Hsin Chu Tel: 886-3-572-9526 Fax: 886-3-572-6459 Taiwan - Kaohsiung Tel: 886-7-536-4818 Fax: 886-7-536-4803 Taiwan - Taipei Tel: 886-2-2500-6610 Fax: 886-2-2508-0102 Thailand - Bangkok Tel: 66-2-694-1351 Fax: 66-2-694-1350 Toronto Mississauga, Ontario, Canada Tel: 905-673-0699 Fax: 905-673-6509 08/24/05 DS70155C-page 88 Preliminary (c) 2005 Microchip Technology Inc.