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It must be pointed out that one of the important features of the microcontroller is the built-in hardware providing reset control and processor clock support. Many modern microcontrollers only require power supplied to them along with a decoupling capacitor and nothing more to run. This makes them an attractive alternative to traditional TTL or CMOS logic chips. Program and Data Storage The typical low-cost microcontroller will only have a few thousand bytes of program storage, which will seem somewhat confining (especially when your PC probably has 512MB or more of main board memory and 40GB or more of disk storage). Despite seeming very small, this amount of memory is usually more than adequate for loading in a robot application; many initial robot programs do not require more than a few dozen lines of program code. If a human-readable display is used, it s typically limited to a small 2-by-16 character LCD, not entire screens of color graphics and text. By using external addressing, advanced microcontrollers may handle more storage:
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megabytes of data are not uncommon. For most robot programs, only a few hundred bytes of storage will be required in a microcontroller. Some microcontrollers and computers for that matter stuff programs and data into one lump area and have a single data bus for fetching both program instructions and data. These are said to use the Princeton, or more commonly Von Neumann, architecture. This is the architecture common to the IBM PC compatible and many desktop computers, but is only found in older microcontroller architectures. Rather, most modern microcontrollers use the Harvard architecture, where programs are stored in one place and data in another. Two buses are used: one for program instructions and one for data. The difference is not trivial. A microprocessor using the Harvard architecture can run faster because it can fetch the next instructions while accessing data. When using the Von Neumann architecture, the processor must constantly switch between going to a data location and a program location on the same bus. The Von Neumann architecture is superior for microcontrollers used in a bootloader configuration and in applications that use realtime operating systems applications that are beyond the scope of this book. Because of the clear delineation in program and data space in the Harvard architecture, such microcontrollers have two separate memory areas: EEPROM (electrically erasable programmable read-only memory) for program space and RAM (random access memory) for holding data used while the program runs. A version of EEPROM used in many microcontrollers is known as Flash. You will often see two data storage specifications for microcontrollers. There are some differences in how the two processor architectures are programmed but learning between the two is not terribly difficult; with the use of high-level languages, the differences become transparent and should not be used to select a microcontroller for a robot. Of much greater importance is the availability of the device itself, the resource materials, development tools, and example applications as well as the ease in which programs can be loaded into the chip. Chip Programming Microcontrollers used in robots are meant to be programmed and erased many times over. A few years ago, finding parts with EEPROM or Flash program memory was not an easy task, and a few microcontrollers (such as the PIC16F84) became very popular devices for robot developers because they could be reprogrammed easily without undergoing any special steps. Older PROM and EEPROM-based microcontrollers were more difficult to work with and required additional tools to erase them before a new program could be burned into them. With the wide availability of EEPROM- and Flash-based microcontrollers, the focus now turns to the cost and overhead of programming applications into microcontrollers. All microcontroller manufacturers have programmers available for their microcontroller chips and there are third-party tools that can program a wide variety of different chips. The cost for these programmers ranges from $25 to several thousand dollars. Another option for programming microcontroller chips is to build your own programmer, which can cost as little as $2 to $3, depending on the state of your parts drawer. Another consideration is application debugging. Many microcontrollers are becoming available on the market with built-in debugging features, eliminating the need for an incircuit emulator and allowing you to debug your applications for just a few hundred dollars. To perform this debugging, several I/O pins of the microcontroller must be dedicated to the
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