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Figure 17.47 I2C message.
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The last point to note about I2C is that it s a multimastering device, which is to say that multiple microcontrollers can initiate data transfers on the bus. This obviously results in possible collisions on the bus (which is when two devices attempt to drive the bus at the same time). Obviously, if one microcontroller takes the bus (sends a start condition ) before another one attempts to do so, there is no problem. The problem arises when multiple devices initiate the start condition at the same time. Actually, arbitration in this case is really quite simple. During the data transmission, hardware (or software) in both transmitters synchronize their clock pulses so that they match each other exactly. During the address transmission, if a bit is expected to be a 1 by a master is actually a 0, then it drops off the bus because another master is on the bus. The master that drops off will wait until the stop condition and then reinitiate the message. I realize that this is hard to understand with just a written description. A bit banging I2C interface can be implemented in software of the PIC microcontroller quite easily. However, owing to software overhead, the fast mode probably cannot be implemented even the standard mode s 100 kbps will be a stretch for most devices. I nd implementing I2C in software to be best when the PIC microcontroller is the single master in a network. In this way, it doesn t have to be synchronized to any other devices or accept messages from any other devices that are masters and are running a hardware implementation of I2C that may be too fast for the software slave.
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Normally, when people think about the devices that the PIC microcontroller can control and interface with, they think of other electronic devices that tend to be low power such as light-emitting diodes (LEDs), liquid-crystal displays (LCDs), buttons, memory chips, and so on. This is unfortunate because I believe that this restricts your perspective on some of the applications for which the PIC microcontroller can be used. A good example of this restriction is motor control the PIC can provide many of the control signals necessary to drive different types of motors in different situations. In this chapter, as well as in Chaps. 20 and 21, I m going to give you some information on how PIC microcontrollers can control different types of motors and provide you with some of the basic circuitry that would be required for doing so. As part of the explanation of how the PIC microcontroller can be used to control motors is also a listing of the different types of motors that are available for use. Most developers tend to focus on only one type of device when there are a number of different types of motors that you can choose from for your application. Table 18.1 lists the most common types of motors, along with their characteristics and some sample applications in which they are used. This list is not necessarily complete I have not listed ac motors that can be controlled by the PIC microcontroller, although they require a lot more effort and the drivers tend to be very speci c to the actual motors.
Dc Motors
The basic dc motor (see Figs. 18.1 and 18.2) is an ideal choice for learning the basics of motor control. It is easy to nd small, inexpensive motors; there are a number of different toys and development kits that can be used along with the motors to help you understand how they work and how to control them. Designing drivers and writing the control software for them are not trivial exercises the basic theory behind their design is something that I will be going through over the next few sections. The basic information needed to work with a dc motor will be applied when the other types of motors are discussed.
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