AVR-M103 Application Board User Manual

Transcription

AVR-M103 Application Board
User Manual
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CONTENTS
PART 1 : AVR SERIES
1. What is AVR?
2. AVR Series
3. Features of ATmega103
PART 2 : AVR-M103 Application Board
1. Introduction
2. Features
3. Specifications
4. Schematic
5. Parts List
6. Connections
PART 3 : Software Tools
1. AVR Development Program Installation
2. How to use Microrobot AVR GCC
3. How to use AVR ISP(In-System Programming)
4. How to use Imagecraft ICC AVR
Part 4 : Sample Sources
1. LED On/Off Using the Push Switch.
2. Display Hexadecimal with 8-segment LED Display.
3. Display Time to the LCD.
4. Counter using External Interrupt.
5. DC Motor Control using PWM
6. Play a song with the Buzzer
7. Detect an Obstacle Using Infrared ray.
8. Stepper Motor Control
9. EEPROM
10. Serial Communication
11. Wireless Communication Using RF Module
Silkscreen
Schematic1(ATmega103 CPU Board)
Schematic2(AVR-M103 Application Board)
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PART 1 : AVR SERIES
1. What is AVR?
AVR is one of Atmel’s 8-bit microcontroller series names, which has high-performance and lowpower RISC(Reduced Instruction Set Computer) architecture. Alf Bogen and Vergard Wollan
designed AVR microcontrollers. AVR stands for Alf Vergard RISC microcontroller.
Atmel's AVR microcontrollers have RISC core running single cycle instructions and a well-defined
I/O structure which limits the need for external components. Internal oscillators, timers, UART, SPI,
pull-up resistors, pulse width modulation, ADC, analog comparator and watch dog timers are some
of the features you will find in AVR devices. In addition, the AVR has on-chip in-system
programmable Flash and EEPROM that provides a highly flexible and cost-effective solution to
many embedded control applications.
The on-chip ISP Flash allows the program memory to be reprogrammed in-system through a serial
interface or by a conventional nonvolatile memory programmer.
AVR instructions are designed to decrease the size of the program whether the code is written in C
or Assembly.
2. AVR Series
l ATmega Series AVR → ATmegaxxx (16KB~128KB Flash Memory)
l AT90 Series AVR → AT90Sxxxx (1KB~8KB Flash Memory)
l ATtiny Series AVR → ATtinyxx (1KB~2KB Flash Memory)
Refer to the ‘Atmel Product Guide.pdf’ for more detail.
3. Features of ATmega103
• Utilizes the AVR ® RISC Architecture
• AVR – High-performance and Low-power RISC Architecture
– 121 Powerful Instructions – Most Single Clock Cycle Execution
– 32 x 8 General Purpose Working Registers + Peripheral Control Registers
– Up to 6 MIPS Throughput at 6 MHz
• Data and Nonvolatile Program Memory
– 128K Bytes of In-System Programmable Flash
Endurance: 1,000 Write/Erase Cycles
– 4K Bytes Internal SRAM
– 4K Bytes of In-System Programmable EEPROM
Endurance: 100,000 Write/Erase Cycles
– Programming Lock for Flash Program and EEPROM Data Security
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– SPI Interface for In-System Programming
• Peripheral Features
– On-chip Analog Comparator
– Programmable Watchdog Timer with On-chip Oscillator
– Programmable Serial UART
– Master/Slave SPI Serial Interface
– Real Time Counter (RTC) with Separate Oscillator
– Two 8-bit Timer/Counters with Separate Prescaler and PWM
– Expanded 16-bit Timer/Counter System, with Separate Prescaler, Compare,
Capture Modes and Dual 8-, 9-, or 10-bit PWM
– Programmable Watchdog Timer with On-chip Oscillator
– 8-channel, 10-bit ADC
• Special Microcontroller Features
– Low-power Idle, Power Save and Power-down Modes
– Software Selectable Clock Frequency
– External and Internal Interrupt Sources
• Specifications
– Low-power, High-speed CMOS Process Technology
– Fully Static Operation
• Power Consumption at 4 MHz, 3V, 25°C
– Active: 5.5 mA
– Idle Mode: 1.6 mA
– Power-down Mode: < 1 µA
• I/O and Packages
– 32 Programmable I/O Lines, 8 Output Lines, 8 Input Lines
– 64-lead TQFP
• Operating Voltages
– 2.7 - 3.6V (ATmega103L)
– 4.0 - 5.5V (ATmega103)
• Speed Grades
– 0 - 4 MHz (ATmega103L)
– 0 - 6 MHz (ATmega103)
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PART 2 :
1. Introduction
AVR-M103 Application Board is designed to study the ATmega103 8-bit microcontroller. The best
way to master one CPU is studying with a well-designed educational board. Thus, AVR-M103
Application board is useful for anyone who is studying AVR CPU family or designing with them. This
board has many different kinds of testing hardware such as LED, LED Network, 8-Segment Display,
LCD, Buzzer, Infrared Sensor, PC Interface, Stepping Motor Interface, RF Module Interface and
others. After gaining the basic knowledge to control this hardware, you may be successful in making
a complicated robot like a micromouse.
2. Features
• Uses an ATmega103 CPU Board(refer to ATmega103 CPU BOARD).
• On board stepper motor driver(SLA7024).
• On board small DC motor driver TR.
• Serial cable, ISP download cable and power cable included.
• User manual, a program CD included.
• Stepper motor and RF module(BiM 418 or BiM 433) are optional.
3. Specifications
Item
SIZE
CPU BOARD
DISPLAY
SENSOR
KEY
PORT
BUZZER
OTHERS
POWER
OPTION
Description
85 x 146 mm
ATmega103 CPU BOARD
16 x 2 Line LCD
8-Segment Display,
LED Network
Infrared LED and Sensor
Reset Key, User Key x 6
Stepper Motor Port
DC Motor Port
RF Module Port
Piezo Buzzer(BTG-47) frequency controlled
MAX232
DC 8-12V, DC 15V(for stepper motor)
Stepper Motor, RF module(BiM 418 or BiM 433)
4. Schematic
Refer to the end of this file.
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5. Parts List
NO.
Reference
Parts
1 BZ1
Buzzer
2 C1
Capacitor
3 C2, C10, C11, C20
"
4 C3, C4
"
5 C5, C7
"
6 C6
"
7 C8, C9
"
8 C12~C14, C17, C18
"
9 C15, C19
"
10 C16
"
Infrared Emitting
11 D1
Diodes
12 D2
Array LED
13 D3
Diode
14 D4
"
15 D5
LED
16 J1~J4
Connector
17 J5
"
18 J6, J7
"
19 J8
"
20 J9
"
21 J10, J14
"
22 J11
"
23 J12
"
24 J13
"
25 Q1
Phototransistors
26 Q2, Q3
Transistor
27 RA1
Array Resistor
28 RA2
"
29 R1, R12, R14
Resistor
30 R2, R24
"
31 R3, R15, R16
"
32 R4~R11
"
33 R13
"
34 R17
"
Value
BTG-47
103
104
470pF
20pF
10uF
2200pF
1uF
100uF/25V
220uF/25V
Q’ty
1
1
3
2
2
1
2
5
2
1
CL-1L5
1
SR B-10
1N4004
1N4148
RED 3φ
CON16A
CON6
CON9
CON2
CON6AP
CON3
CON16
CON10AP
CON3
ST-1KLA
C1815
330Ω / 9pin
10KΩ / 9pin
1KΩ
470Ω
47KΩ
330Ω
10Ω
510Ω
1
1
1
1
4
1
2
1
1
2
1
1
1
1
2
1
1
3
2
3
8
1
1
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Remark
monolithic Condenser
“
“
Ceramic Condenser
Electrolytic Condenser
Monolithic Condenser
Electrolytic Condenser
“
“
Infrared Emitter
Two lines Header(F)
5268
Header(F)
5268
2 × 3 Header(M)
5046
Header(F)
HIF3F/10 Right angle
5268
Infrared Sensor
NPN
Remark
NO. Reference
Parts
Value
Q’ty
35 R18, R20
"
2
2.4KΩ
36 R19
"
1 Variable Resistor
500Ω
37 R21, R22
"
2 DIP
1Ω/0.5W
38 R23
"
1
10KΩ
39 S1
Switch
Tack(medium)
1
40 S2~S7
"
Tack(small)
6
41 S8, S9
"
Toggle-3P
2
42 U1
FND
SND417A
1
43 U2
Motor Driver
SLA7024M
1
44 U3
C-MOS
74HC14A
1
45 U4
Regulator
7805 / TO220
1
46 U5
I.C
MAX232A
1
47 XTAL1
X-tal
6MHz
1
48
P.C.B
AVR-M103
1 85mm × 146mm
49
LCD
2×16 Character 1
50
Jumper
1
51
screw
9 3 × 8(Pan head)
52
Nut
5
53
Insulating Washer
10
54
Supporter(Male)
4 10 mm, Plastic
55
Supporter(Female)
4 10 mm, Plastic
56
Ribbon Cable
1 1 meter
57
Downloading a Adapter
1 Connect to printer port
58
Serial port cable
1
59
Power
2
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6. Connections
Figure 2.1 Downloading Ribbon cable
Figure 2.4 Power Cables
Figure 2.2 Downloading Adapter
Figure 2.3 Serial Communication Cable
1) AVR(ATmega103) CPU BOARD
Connect the AVR(ATmega103) CPU board to the AVR-M103 Application Board. Match the
connectors’ names(J1, J2, J3, J4) of the CPU board to the App(Application) board. Warning : A
wrong connection will cause serious damage to the boards.
2) Power Cables
There are two power cables. One is for the board and the other one is for the stepping motor.
Connect one of the cables to the App board’s J10 port and provide DC 6.5~9V. When driving the
stepping motor, connect the cable to the App board’s J10 port and provide DC 12~20V. There are
individual power switches for the board power and the stepping motor power: S8, S9 respectively.
3) Downloading Adapter and Ribbon Cable
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Plug the downloading adapter to the PC printer port and connect the adapter to the App board’s J12
using the ribbon cable.
4) Serial Communication Cable
When you want to use the serial communication function, connect the 9-pin PC serial port to the
App board’s J13 port(3-pin).
5) Stepper Motor Port(J5)
Use a 6-line stepper motor. A SLA7024 unipolar stepper motor driver is used to drive the stepper
motor. The following table shows the stepper motor port(J5)’s pin numbers and their control signals.
Table 2.1 J5 Stepper Motor Port
Pin number
Signal
1
A
2
Center Tab of A
3
/A
4
B
5
Center Tab of B
6
/B
6) RF module Port(J6)
Put together a RF module(BiM-418 or BiM433, optional) to the App board’s J6. Make sure to match
the RF module’s pins to the J6 box-header’s pins properly. Number 1 pin is in the top left corner of
the JP box-header.
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PART 3 : Software Tools
1. AVR Development Program Installation
AVR Development Tools
There are many different kinds of development tools for AVR microcontrollers. Atmel, the AVR CPU
manufacturer, provides some AVR development tools free. Microrobot Co. Ltd. also provides a free
Windows C-compiler.
Wavrasm: AVR assembler, Atmel.
AVR Studio: AVR Emulator/Simulator, Atmel.
AVR ISP: ISP downloading program, Atmel.
Microrobot AVR GCC: C-compiler, Microrobot.
ICC AVR : C-compiler, Imagecraft.(30-day trial version included in the CD)
System requirements for AVR development tools
l Windows 9x/ME or NT/2000
l Pentium-133 or higher
l At least 4 Mbytes of RAM
l CD-ROM Drive
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AVR ISP installation:
Run setup.exe in the CD’s avr_isp folder.
Microrobot AVR GCC installation
Refer to the ‘Microrobot AVR GCC User Guide.pdf’ file in the CD’s MaroGcc0.9C folder.
Imagecraft ICC AVR (30-day trial version) installation
Run iccavrdem.exe in the CD.
Attention : Do not attempt to extend the limited 30-day. Any attempts such as changing date,
cracking, reinstalling might cause that the program does not work anymore.
2. How to use Microrobot AVR GCC
Refer to the ‘Microrobot AVR GCC User Guide.pdf’ file in the CD’s MaroGcc0.9C folder.
3. How to use AVR ISP(In-System
Programming)
Refer to the ‘AVR ISP Manual for Microrobot AVR Products.pdf’ file.
4. How to use Imagecraft ICC AVR
Copy the (Imagecraft) Source folder on the CD to the C drive root directory. Remove (uncheck)
read-only file attributes for the all copied files.
Run the ICC AVR.
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Figure 3.16 ICCAVR Window
Select ‘File → Open’ or click on
.
icon and load c:\source\sw.c file.
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Figure 3.17 Source file loading.
Select ‘Project → Options → Target’ and configure as shown below.
Figure 3.18 Target setting
There are two items(COFF, Intel HEX) to choose from the ‘Output Format’ box. COFF is used to
debug the source program using the AVR Studio. Intel HEX is an executable file.
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Select ‘Compiler’ tab and set up as shown below.
Figure 3.19 Compiler setting
Select ‘Paths’ tab and set up the paths.
Figure 3.19 Paths setting
Include Path(s) : The path where iom103.inc (or *.inc files) exists.
Library Path : Library Path.
Output Directory : Current working source folder.
Click on ‘Set As Default’ button and OK button.
Select ‘File → Compile File → To output’ or press ‘Ctrl + F9’ to show the output message window.
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Figure 3.21 Output message window
‘Done’ is displayed in the Output message window if there is no compiling error. The following files
are generated in the output folder as a result of the compiling.
*.hex : Hex file. Executable file.
*.mp : Address mapping information for the functions and variables used.
*.s : C source code + Asm source code.
*.lst : Asm List file.
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Refer to the ‘AVR ISP Manual for Microrobot AVR Products.pdf’ file in the CD.
-16-
Part 4 : Sample Sources
For simplicity, all source lists are not included in this chapter. Refer to the sources in the CD.
Reference the pdf data for the ATmega103 CPU.
All source files have the following source line in common.
#include<init.inc>
The init.inc file has a system_init() function that initializes I/O ports and their direction.
1. LED On/Off Using the Push Switch.
(1) LED(Light Emitting Diode)
LED is a semiconductor device that emits light when a voltage is applied to it. A LED has two lead
wires which have different polarities. (+) polarity is called anode and (-) polarity is called cathode.
LED
(2) SW.C
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void main()
{
system_init();
// init.inc
while (1){
if(!S2) LED2_ON;
else
LED2_OFF;
if(!S3) LED3_ON;
else
LED3_OFF;
if(!S4) LED4_ON;
else
LED4_OFF;
if(!S5) LED5_ON;
else
LED5_OFF;
if(!S6) LED6_ON;
else
LED6_OFF;
if(!S7) LED7_ON;
else
LED7_OFF;
}
}
(3) Explanation
• Push Button Switches S2~S7 are connected to the Bit2~Bit7 of the PORTF. (Open = 1(5V),
Close(Pressed) = 0(0V)).
• The LED0~LED7 are connected to the Bit0~Bit7 of the PORTD. The LEDs are turned on when the
corresponding bits are low. The LED0~LED7 are allocated in the LED network.
• LEDx(x=2~7) light up when the Push Button switch Sx(x=2~7) is pressed.
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2. Display Hexadecimal with 8-segment LED
Display.
(1) 8-segment LED Display
An 8-segment LED Display has 8 LEDs which have been combined into one case to make a
convenient device for displaying numbers and some letters. There are two different types 8segment LED Displays. They are referred to as the Common Anode(CA) and Common
Cathode(CA). Each one of the LED legs is connected to one output pin. When the anode legs are
common, it is called CA type and when cathode legs are common, it is called CC type. A CA type 8segment LED Display is used on this board. To turn on the LED segment, output 0 to the
corresponding bit.
a
f
e
g
b
c
d
h
8-segment display (Each segment’s name)
A
b
c
d
E
F
Hexadecimal numbers
(2) FND.C
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byte fnd_data[16]={ 0xC0, 0xF9, 0xA4, 0xB0,
0x99, 0x92, 0x82, 0xF8,
0x80, 0x90, 0x88, 0x83,
0xA7, 0xA1, 0x86, 0x8E};
void main(void)
{
byte fndP=0;
system_init();
while (1){
delay_1ms(500);
PORTC = fnd_data[fndP++];
fndP &= 0x0F;
}
}
(3) Explanation
• The LED segments ‘a’ to ‘h’ are connected to Bit0 to Bit7 of the PORTC respectively.
• To display number 1, turn on the ‘b’ and ‘c’ LED segments. Output 0XF9(11111001B) to the
PORTC to do that.
• Counts from 0 to F(15) every 0.5 sec.
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3. Display Time to the LCD.
(1) LCD (Liquid Crystal Display)
LCD is a kind of display that consists of segments of liquid crystal whose reflectivity varies
according to the voltage applied to them. An LCD module is a special LCD that is combined with
LCD controller(s) and driver(s) for easy interface to the other controller such as CPU.
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Symbol
Vss
VDD
VL
RS
R//W
E1
D0
D1
D2
D3
D4
D5
D6
D7
A
K
Function
0V
Power
5V
H : Data Input, L : Instruction Code
H : Data Read, L : Data Write
H : Enable Signal
Data Bus
LCD Back-Light Power
Table 4.1 LCD Module Pin Assignment
PE4
E1
H
H
H
H
PE6
R//W
0
0
1
1
PE5
RS
0
1
0
1
Function
Instruction Register Write
Data RAM Write
Status Register Read
Data RAM Read
Table 4.2 LCD Module Control Port Pins
Note : LCD is a slow device compared to a CPU. Delay time is required to control the LCD.
Refer to the ‘S6A0069.PDF’ file for the LCD instructions.
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(2) LCD.C
The LCD.C refer to the lcd.inc file.
#include<lcd.inc>
The lcd.inc file has some LCD functions.
-22-
#pragma interrupt_handler compare1a:13
byte hour = 19, minute = 27, second = 48;
void compare1a(void)
{
gotoxy(7,1);
putchar('0'+hour/10);
putchar('0'+hour%10);
putchar(':');
putchar('0'+minute/10);
putchar('0'+minute%10);
putchar(':');
putchar('0'+second/10);
putchar('0'+second%10);
// then increment counter
second++;
if(second == 60){
second = 0;
minute++;
if(minute == 60){
minute = 0;
hour++;
if(hour == 24){
hour = 0;
}
}
}
}
void main(void)
{
system_init();
TIMSK = (1<<4);
// set OCIE1A
TCCR1A = 0;
TCCR1B = 0x0C;
// CTC1, CK/256
OCR1A = 0x5B8D;
// 6000000/256=23437.5 -> 1SEC=23437=0x5B8D
TCNT1 = 0;
init_lcd();
gotoxy(0,0);
outtext(" Made by MICRO- ");
gotoxy(0,1);
outtext(" ROBOT ");
compare1a();
SREG = 0x80;
// SEI
while(1);
}
(3) Explanation
• The PORTA is connected to the LCD as a data bus.
• Sets the Timer1’s prescaler as a CK/256 divider.
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• Sets 0x5B8D(=23437) to the ‘Timer1 Output Compare Register’ to make the ‘compare interrupt’ at
one second intervals.(6000000/256 = 23437 =0x5B8D).
• Updates and displays the current time in the interrupt routine.
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4. Counter using External Interrupt.
(1) COUNT.C
#pragma interrupt_handler int7:
word Pulse=0;
void int7(void)
{
Pulse++;
gotoxy(12,1);
putchar( '0'+Pulse/1000 );
putchar( '0'+(Pulse%1000)/100 );
putchar( '0'+((Pulse%1000)%100)/10 );
putchar( '0'+((Pulse%1000)%100)%10 );
}
void main(void)
{
system_init();
EIMSK = (1<<7);
EICR = 0x80;
// set INT7
// The falling edge of INT7
init_lcd();
// lcd.h
gotoxy(0,0);
outtext("Made by H.S Yoon");
gotoxy(0,1);
outtext("PULSE COUNT:0000");
SREG = 0x80;
// SEI
while(1);
}
(2) Explanation
• Push button switch S7 is connected to the Bit7(INT7) of the PORTE.
• The INT4~NT7 are external interrupt input pins which can be set with one of the following triggers
: low level, falling edge and rising edge.
• Sets the INT7 to the falling edge trigger.
• The external interrupt is activated by pressing the S7 key.
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5. DC Motor Control using PWM
(1) Driving DC motor
A motor transforms electrical energy into mechanical energy. A motor which is driven by DC(Direct
Current) is called a DC motor. DC motors are commonly used to control small system such as toy,
robots and small machines.
Generally, the turning speed of the DC motor is determined by the amount of power supplied. To
control the amount of power, the voltage must be varied. To vary the voltage without loss requires a
complex circuit. Thus, PWM(Pulse Width Modulation) method is used to control a DC motor instead
of using a hardware solution. PWM is a software control method, which turns the motor on and off
quickly with a fixed amount of voltage supplied.
(2) MOTOR.C
void main(void)
{
system_init();
OCR2 = Speed;
TCNT2 = 0;
TCCR2 = 0x63;
while(1)
{
if(SW_UP==SW_ON){
Speed++;
while(SW_UP==SW_ON);
}else if(SW_DN==SW_ON){
Speed--;
while(SW_DN==SW_ON);
}
OCR2 = Speed;
gotoxy(13,1);
putchar( '0'+Speed/100 );
putchar( '0'+(Speed%100)/10 );
putchar( '0'+(Speed%100)%10 );
}
// SET PWM MODE, Frequency = CK/64
//Wait until release SW
// Wait until release SW
}
(3) Explanation
• Connect a DC motor to the J8.
• PB7(PWM2) is the PWM output pin.
• PWM value can be from 0 to 255.
• SW_UP(S6) : Increase speed.
• SW_DN(S7) : Decrease speed.
• The ‘Speed’ is stored to OCR2 which determines PWM duty cycle.
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6. Play a song with the Buzzer
(1) Buzzer
A buzzer(BTG-47) is installed on the board to make a sound. Usually a buzzer is used to make a
fixed buzzing noise. This kind of buzzer has internal electric vibrator. On the other hand, some
buzzers make sound according to the input signal like a speaker. The BTG-47 has no internal
vibrator, thus, it can output any sound such as buzzing noise, voice or scale.
Oct
0
1
2
3
A 27.5000 55.0000 110.0000 220.0000
Bb 29.1352 58.2705 116.5409 233.0819
B 30.8677 61.7354 123.4708 246.9417
C 32.7032 65.4064 130.8128 261.6256
Db 34.6478 69.2957 138.5913 277.1826
D 36.7081 73.4162 146.8324 293.6648
Eb 38.8909 77.7817 155.5635 311.1270
E 41.2034 82.4069 164.8138 329.6276
F 43.6535 87.3071 174.6141 349.2282
Gb 46.2493 92.4986 184.9972 369.9944
G 48.9994 97.9989 195.9977 391.9954
Ab 51.9130 103.8262 207.6523 415.3047
Scale Table : 261.6256Hz is standard ‘C’.
4
5
6
7
440.0000
466.1638
493.8833
523.2511
554.3653
587.3295
622.2540
659.2551
698.4565
739.9888
783.9909
830.6094
880.0000
932.3275
987.7666
1046.502
1108.731
1174.659
1244.508
1318.510
1396.913
1479.978
1567.982
1661.219
1760.000
1864.655
1975.533
2093.005
2217.461
2349.318
2489.016
2637.020
2793.826
2959.955
3135.963
3322.438
3520.000
3729.310
3951.066
4186.009
4434.922
4698.032
4978.030
5274.041
5587.652
5919.911
6271.927
6644.875
(2) MUSSIC.C
Void melody(word scale, word length)
{
OCR1A = scale;
delay_1ms(length*Speed);
}
void main(void)
{
system_init();
TCCR1A = 0x10;
TCCR1B = 0x09;
TCNT1 = 0;
// Toggle the OC1B output line
// CTC1, CK/1
while(1) rhapsody_of_sadness();
}
(3) Explanation
• (-) Leg of the Buzzer is connected to the PB6(OC1B).
• It is toggled when timer1 compare interrupt is occurred.
• Put a half of the time constant of the frequency you want to the OCR1A register.
• The melody() function play scale can be varied by changing the scale and length parameters.
-27-
7. Detect an Obstacle Using Infrared ray.
(1) Infrared LED and Sensor
An infrared LED emits infrared rays. The infrared rays are invisible. Use a CCD(Charge-Coupled
Device) camera such as a digital camera or camcorder to see infrared rays. An Infrared sensor
converts received infrared rays to an electronic signal. Usually, infrared LEDs and sensors are used
as a pair to detect an obstacle. On the board, CL-1L5 is an infrared LED and ST-1KLA is an infrared
sensor.
(2) Pulse infrared LED driving
A ‘pulse infrared LED driving’ method is an easy way to detect an object from a long distance. With
this method, the infrared LED is driven by a high current pulse to avoid environmental infrared
interference such as fluorescent light. Usually, the infrared sensor, which is paired with the infrared
LED, is adjusted to be dull for the same reason.
(3) SENSOR.C
#pragma interrupt_handler compare0:16
#pragma interrupt_handler adc_complete:22
void compare0(void)
{
PORTE |= (1<<3);
// LED ON
delay(14);
ADCSR |= (1<<6);
// AD start
}
void adc_complete(void)
{
PORTE &= 0xf7;
}
void main(void)
{
word AD_DATA;
system_init();
TIMSK = (1<<1);
// set OCIE0
TCCR0 = 0x0B;
// CTC0=Compare Mode, PCK0/32
OCR0 = 0x4B;
// 32usec=6 => 2.5KHz = 400usec = 75 = 0x4B
TCNT0 = 0;
ADMUX = 0;
ADCSR = 0x89;
// SET ADEN, ADIE, CK/2 = 3MHz
DDRE |= (1<<3);
SREG = 0x80;
// SEI
while(1)
{
AD_DATA = ADC;
gotoxy(13,1);
putchar( '0'+AD_DATA/100 );
putchar( '0'+(AD_DATA%100)/10 );
putchar( '0'+(AD_DATA%100)%10 );
}
}
(4) Explanation
• The infrared LED is connected to the PE3.
• The infrared sensor is connected to the PF0(ADC0).
-28-
• Reads and displays the A/D(Analog-to-Digital) converted value to the LCD.
-29-
8. Stepper Motor Control
(1) Stepper Motor.
A stepper motor is a motor whose driveshaft rotates in small steps rather than continuously. It is
also called a stepping motor.
Figure 4.8.1 Unipolar coil driving
(2) Driving coils
From a circuit designer's point of view stepper motors can be divided into two basic types: unipolar
and bipolar. In the unipolar driving, the winding current flows in one direction. Refer to the above
Figure. In the bipolar driving, the winding current flows two directions.
To cause the stepper motor to rotate, a pulse has to be sent to each coil in turn and the pulse must
have enough power to rotate the driveshaft. Therefore, Power TR, Power FET or a special driver is
used to drive a stepper motor. SLA7024M unipolar driver is used on this board. Refer to the
SLA7024M.pdf for more details.
(3) State sequence
A stepper motor steps by switching the windings in sequence. There are three different driving
sequences for a motor.
1 : energize.
0 : de-energize.
1
2
3
4
A
1
0
0
0
B
0
1
0
0
/A
0
0
1
0
/B
0
0
0
1
One-phase-on full step mode
1
2
3
4
A
1
0
0
1
B
1
1
0
0
/A
0
1
1
0
/B
0
0
1
1
Two-phase-on full step mode
-30-
1
2
A
1
0
B
1
1
A
0
0
/B
0
0
Half step mode
3
0
1
1
0
4
0
0
1
0
5
0
0
1
1
6
0
0
0
1
7
1
0
0
1
8
1
0
0
0
(4) Preparation
First, turn the variable resistor R19 to the end counterclockwise. Then, turn it clockwise slowly until
the motor turns well. If the motor does not work check the motor’s wire connections.
(5) STEP.C
-31-
byte pulse_data[8]={ 0x04, 0x14, 0x10, 0x18,
0x08, 0x28, 0x20, 0x24};
word Speed;
word Period=3200;
byte pulseP=0;
void compare1a(void)
{
OCR1A = Period;
pulseP ++;
pulseP &= 0x07;
PORTB = (PORTB&0xC3) | pulse_data[pulseP];
}
void main(void)
{
system_init();
TIMSK = (1<<4);
// set OCIE1A
TCCR1A = 0;
TCCR1B = 0x09;
// CTC1, CK/1
OCR1A = Period;
TCNT1H = TCNT1L = 0;
SREG = 0x80;
// SEI
while(1){
if(SW_UP==SW_ON){
Period -= 20;
while(SW_UP==SW_ON);
}else if(SW_DN==SW_ON){
Period += 20;
while(SW_DN==SW_ON);
}
Speed = 32767/(Period/10);
gotoxy(12,1);
putchar( '0'+Speed/100 );
putchar( '0'+(Speed%100)/10 );
putchar( '0'+(Speed%100)%10 );
}
}
(6) Explanation
•
•
•
•
•
The four input pins of the SLA7024M are connected to the PB2~PB5.
Generates half step sequence by the software.
Changes the bit state(output) using the output compare interrupt.
SW_UP(S6) : Increase speed(= reduce the period).
SW_DN(S7) : Decrease speed(= increase the period).
-32-
9. EEPROM
(1)EEPROM(Electrically Erasable Programmable Read Only Memory)
EEPROM is a memory chip that holds its content without power. It functions like a non-volatile
RAM, but writing to EEPROM is slower than writing to RAM. EEPROMs have a lifespan of between
10K and 100K write cycles. There is a 4Kbye EEPROM in the Atmega103 CPU.
(2) EEPROM.C
#define S7
(PINF&0x80)
void main(void)
{
byte imsi;
system_init();
init_lcd();
while(1){
imsi = _256EEPROMread(0);
gotoxy(0,0);
putchar( '0'+imsi/100 );
putchar( '0'+(imsi%100)/10 );
putchar( '0'+(imsi%100)%10 );
_256EEPROMwrite(0,++imsi);
gotoxy(0,1);
putchar( '0'+imsi/100 );
putchar( '0'+(imsi%100)/10 );
putchar( '0'+(imsi%100)%10 );
while(S7);
while(!S7);
}
}
(3) Explanation
• Uses ICC(Imagecraft C Compiler) library functions.
• The declaration of _256EEPROMread(), _256EEPROMwrite() are in the eeprom.h.
• Reads a value from the EEPROM address 0 and displays it to the LCD’s first line.
• Finally, adds one to the value, writes the value to the same address and displays it to the LCD’s
second line.
-33-
10. Serial Communication
(1) UART(Universal Asynchronous Receiver Transmitter)
UART is an electronic circuit that makes up the serial port. It converts parallel bytes from the CPU
into serial bits for transmission and vice versa. It generates and strips the start and stop bits
appended to each character. Atmega103 has a full duplex UART. Data transmission is initiated by
writing the data to be transmitted to the UART I/O Data Register, UDR. The received byte(data)
also appears in the UDR. But UDR is in fact two physically separate registers; one for transmitted
data and one for received data.
(2) SERIAL.C
#pragma interrupt_handler rx_complete:19
byte R_buffer;
void putChar( unsigned char data )
{
while( !(USR&0x20) );
UDR = data;
}
void puttext( char *data )
{
int i=0;
while( data[i] != 0 ) putChar(data[i++]);
}
void rx_complete( void )
{
R_buffer = UDR;
if( (USR&0x10) != 0 ) return;
putChar( R_buffer );
}
void main(void)
{
unsigned char data=0x30;
system_init();
UBRR = 77;
// 4800bps
UCR = 0x18;
UCR |= 0x80;
SREG = 0x80;
// SEI
while (1);
}
(3) Explanation
• Insert a jumper to ‘A’ of the J9 header.
• After downloading the program, move the jumper from ‘A’ to ‘B’ of the J9 header.
• Run a serial communication program such as hyper-terminal, and set it up with 4800bps.
• UBRR = X-tal frequency(6MHz) /(16 × BAUD)-1 = 77.125.
• Returns the data from the Rx pin to the Tx pin using rx-complete interrupt.
-34-
11. Wireless Communication Using RF Module
(1) RF Module(BiM-418-F, BiM-433-F)
An RF (Radio Frequency) module is a compact component used for wireless radio communication.
The BiM-418-F and BiM-433-F are miniature UHF radio modules capable of half duplex data
transmissions at speeds up to 40 Kbit/s over distances of 30 meters in-building and 120 meters
over open ground. Single 4.5V to 5.5V power supply is required. Refer to the ‘Bim.pdf’ file for more
details.
(2) RF.C
#pragma interrupt_handler rx_complete:19
#define RXE (1 << 2)
byte R_buffer;
void putChar( unsigned char data )
{
while( !(USR&0x20) );
UDR = data;
}
void puttext( char *data )
{
int i=0;
while( data[i] != 0 ) putChar(data[i++]);
}
-35-
void rx_complete( void )
{
R_buffer = UDR;
if( (USR&0x10) != 0 ) return;
putChar( 0x01 );
putChar( R_buffer|0x80 );
}
void main(void)
{
system_init();
PORTE &= ~RXE;
UBRR = 77;
UCR = 0x18;
UCR |= 0x80;
SREG = 0x80;
// Set the RF Module with Tx mode.
// 4800bps
// SEI
init_lcd();
gotoxy(1,0);
outtext("RF Module TEST");
gotoxy(1,1);
outtext("Push keyboard");
while (1);
}
(2) Explanation
• Insert a jumper to ‘A’ of the J9 header.
• After downloading the program, move the jumper from ‘A’ to ‘B’ of the J9 header to use the RF
module as a transmitter. (If you need to use the RF module as a receiver, move the jumper to ‘C’
of JP9 header.)
• Clear the PE2 to set up the module with a transmitter. (If you want to set up the module as a
receiver, set the PE2 bit.)
• Run a serial communication program such as hyper-terminal, and set it up with 4800bps.
• The sample source code is a simple test program, which forwards serial Rx data to the RF module
after some processing: or-operation(R_buffer|0x80) and attaching a byte(0x01) in front of the data.
• To receive the data, a different RF module control board is required such as a Charisma RF board
or an AVR-M103 application board.
• Refer to the Charisma RF board manual for the detail RF module controls.
Microrobot(www.microrobot.com)
-36-
U1
PF0
PF1
PF2
PF3
PF4
PF5
PF6
PF7
61
60
59
58
57
56
55
54
J1
/PEN
PE1
PE3
PE5
PE7
PB1
PB3
PB5
C
1
3
5
7
9
11
13
15
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
2
4
6
8
10
12
14
16
PE0
PE2
PE4
PE6
PB0
PB2
PB4
PB6
AREF
62
AVCC
64
AGND
63
PE0
PE1
PE2
PE3
PE4
PE5
PE6
PE7
CON16AP
2
3
4
5
6
7
8
9
J2
PB7
TOSC1
VCC
XTAL2
PD0
PD2
PD4
PD6
B
1
3
5
7
9
11
13
15
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
2 TOSC2
4 /RESET
6
GND
8 XTAL1
10 PD1
12 PD3
14 PD5
16 PD7
CON16AP
/PEN
1
PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7
25
26
27
28
29
30
31
32
/RESET
20
PF0(ADC0)
PF1(ADC1)
PF2(ADC2)
PF3(ADC3)
PF4(ADC4)
PF5(ADC5)
PF6(ADC6)
PF7(ADC7)
GND2
D
AVCC
AGND
PE0(PDI/RXD)
PE1(PDO/TXD)
PE2(AC+)
PE3(AC-)
PE4(INT4)
PE5(INT5)
PE6(INT6)
PE7(INT7)
PA0(AD0)
PA1(AD1)
PA2(AD2)
PA3(AD3)
PA4(AD4)
PA5(AD5)
PA6(AD6)
PA7(AD7)
ALE
RD
WR
PB0(SS)
PB1(SCK)
PB2(MOSI)
PB3(MISO)
PB4(OCO/PWM0)
PB5(OC1A/PWM1A)
PB6(OC1B/PWM1B)
PB7(OC2/PWM2)
PEN
TOSC1
ATmega103
TOSC2
22
GND
GND
21
VCC
VCC
XTAL1
RESET
1
D
PC0(A8)
PC1(A9)
PC2(A10)
PC3(A11)
PC4(A12)
PC5(A13)
PC6(A14)
PC7(A15)
AREF
PD0(INT0)
PD1(INT1)
PD2(INT2)
PD3(INT3)
PD4(IC)
PD5
PD6(T1)
PD7(T2)
2
53 GND2
3
52 VCC2
4
VCC2
5
XTAL2
51
50
49
48
47
46
45
44
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
35
36
37
38
39
40
41
42
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7
43
ALE
34
33
/RD
/WR
10
11
12
13
14
15
16
17
PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7
J3
19
TOSC1
18
TOSC2
24
XTAL1
23
XTAL2
/WR
PC0
PC2
PC4
PC6
ALE
PA6
PA4
1
3
5
7
9
11
13
15
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
2
4
6
8
10
12
14
16
/RD
PC1
PC3
PC5
PC7
PA7
PA5
PA3
C
CON16AP
J4
PA2
1
PA0
3
GND2 5
PF6
7
PF4
9
PF2
11
PF0
13
AGND 15
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
2
PA1
4 VCC2
6
PF7
8
PF5
10 PF3
12 PF1
14 AREF
16 AVCC
B
CON16AP
A
A
Title
AVR Aplication Board
Size
A
Date:
5
4
3
Document Number
CPU
Tuesday, July 11, 2000
2
Rev
1.0
Sheet
1
of
1
5
5
4
3
2
1
D5V
D5V
RA1
1
D5V
1
Q1
2ST-1KLA
C1
D1
CL-1L5
20
17
18
PD0
15
16
PD1
13
14
PD2
/PEN
TXD
SEN
RS
SW6
SCK
PB3
PB5
1K
2
3
4
5
6
7
8
9
D2
19
J1
R1
1
330/9pin
A5V
D
2
ADC0
1
3
5
7
9
11
13
15
103
12
PD3
10
PD4
7
8
PD5
5
6
PD6
3
4
PD7
1
D
R4 330
R6 330
R3
470
9
D5V
D5V
PB2
PB4
BUZZER
CON16A
R2
11
RXD
RXE
LCD EN
R//W
2
4
6
8
10
12
14
16
G
F
47K
C2 104
DCSERVO
R13
10
XTAL2
PD0
PD2
PD4
PD6
2
LN10204
Q3
1
2
3
4
5
D5V
E
D
J2
Test1 Test2
1
3
5
7
9
11
13
15
2
4
6
8
10
12
14
16
R5 330
R7 330
U1
R8 330
R10 330
G
A
F
B
M2 M1
E
C
D DP
J8
D3
A
B
10
9
8
7
6
1
2
1N4004
CON2
C
DP
R12
R9 330
R11 330
SR410
Q2
C1815
DCSERVO
1K
/RESET
XTAL1
PD1
PD3
PD5
PD7
D5V
R14 1K
R15 47K
C3 470pF
CON16A
SEN
20V
C1815
J3
C5
XTAL2
D5V
C
20pF
XTAL1
6MHZ
C7
+
J6A
1
2
3
4
5
6
7
8
9
C6
10uF
R16 47K
PB2
PB3
PB4
PB5
D5V
2
4
6
8
10
12
14
16
B
D
F
DP
AD7
AD5
AD3
B9
B8
B7
B6
B5
B4
B3
B2
B1
18
17
16
15
14
13
12
11
10
2
510
R18
2.4K
74HC14A
R19
D5V
RXE
U3C
cn9
4
D5V
5
74HC14A
INA
INB
INC
IND
OUTA
TDA
TDB OUTB
8
2
13
3
REFAOUTC
18
9
RSA OUTD
11
C8
AD2
AD0
1
3
5
7
9
11
13
15
74HC14A
D4
R23
D1N4148
D5V
SW5
SW3
SW1
ADC0
10K
S1
/RESET
10
2200pF
R21
1/0.5W
AD1
2
4
6
8
10
12
14
16
7
12
VSA
VSB
J5
+
4
15
GA
GB
RSB
C
1
2
3
4
5
6
1
REFB
C9
CON6
C19
100uF/25V
SLA7024M
R22
1/0.5W
SW6
SW4
SW2
AREF
AVCC
D5V
104
BZ1
C11
1
BUZZER
J9
CON16A
+
C12
14
500/VAR
/RESET
C20
104
2200pF
J4
RXD3
6
R20
2.4K
A5V
C10 104
TXD
3
6
5
17
16
CON16A
1
U3B
U2
C4 470pF
R17
20pF
A1
A2
A3
A4
A5
A6
A7
A8
A9
cn9
AD6
AD4
XTAL1
U3A
J6B
1
3
5
7
9
11
13
15
A
C
E
G
1uF
RXD1
RXD2
RXD3
2
BTG-47
1
3
5
B
+ +
+ +
+ +
2
4
6
RXD
B
CON6AP
VCC
VCC
S8
C15 +
1
D5V
RA2
J10
2
1
1
2
3
Toggle
C16 +
10K/9pin
CON3
2
100uF
J11
1
VIN
2
3
4
5
6
7
8
9
VOUT
GND
3
RS
R//W
LCD EN
AD0
AD1
AD2
AD3
AD4
AD5
AD6
AD7
S2
220uF
SW1
S3
SW2
S4
SW3
S5
S9
20V
SW4
S6
3
1
Toggle
A
SW5
J14
2
S7
1
2
3
SW6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1uF +
C17
1
L7805/TO3
3
JP
JUMPER
D5
R24
470
J12
RXD1 10
8
/RESET 6
SCK
4
TXD
2
+
+
+
+
+
+
+
+
+
+
9
7
5
3
1
C13
16
1uF
2
1
3
D5V
LED
2
U4
D5V
+ C14
1uF
4
5
6
T1I
R1O
11
12
T2I
R2O
MAX232 GND
10
9
15
TXD
RXD2
14
13
T1O
R1I
7
8
T2O
R2I
J13
3
2
1
U5
Vcc
V+
C2+
C2C1+
C1V-
+
D5V
+
A5V
C18
1uF
CON3
CON10AP
CON16
A
CON3
Title
AVR Aplication Board
Size
A3
Date:
5
4
3
2
Document Number
Main
Rev
1.0
Wednesday, September 27, 2000 Sheet
1
1
of
5

AVR-M103 Application Board User Manual

Transcription

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