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Pololu Orangutan SVP User's Guide
Pololu Orangutan SVP
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.a. Supported Operating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3. Schematic Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4. Module Pinout and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.a. Installing Windows Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.b. Using the Demo Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.c. Programming Your Orangutan . . . . . . . . . . . . . . . . . . . . . . . . . .
5.d. Assembling the kit version . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . .
7. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . .
8. Using the USB Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . .
9. Using the TTL Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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12. Upgrading Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13. Related Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User's Guide
© 2001-2010 Pololu Corporation
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Summary of Contents for Pololu Corporation Orangutan SVP
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Page 1: Table Of Contents
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation Pololu Orangutan SVP User's Guide 1. Overview ......... 2 1.a. -
Page 2: Overview
MCU over SPI. A USB A to mini-B cable [http://www.pololu.com/catalog/product/130] included with the Orangutan SVP. Because the Orangutan SVP gives the user direct access to the AVR microcontroller, it is compatible with all development software for Atmel’s AVR microcontrollers, including Studio Atmel’s... -
Page 3: Supported Operating Systems
(1725k pdf) (provided by customer Jaume B.). 1.a. Supported Operating Systems The Orangutan SVP’s USB connection works under Microsoft Windows XP, Windows Vista, Windows 7, and Linux. The Orangutan SVP’s USB connection can be used to program the 1. Overview Page 3 of 37... - Page 4 The Orangutan SVP’s USB connection is not compatible with any version of Mac OS. Note: You may not need to use the Orangutan SVP’s USB connection. If you have an AVR ISP programmer, then you can program the AVR on the Orangutan SVP by connecting your programmer to the 6-pin AVR ISP header located near the SVP’s USB connector.
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Page 5: Contacting Pololu
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 2. Contacting Pololu check Orangutan SVP-324 robot controller page or Orangutan SVP-1284 robot controller [http://www.pololu.com/catalog/product/1325] page additional information, including [http://www.pololu.com/catalog/product/1327] pictures, example code, and application notes. You can also find libraries for interacting... -
Page 6: Schematic Diagrams
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 3. Schematic Diagrams Schematic diagrams of the Orangutan SVP are available here: Orangutan SVP schematic diagram (99k pdf) [http://www.pololu.com/file/download/org06a02_schematic.pdf?file_id=0J265] 3. Schematic Diagrams Page 6 of 37... -
Page 7: Module Pinout And Components
5 V supply (VCC) that is used to power the logic. The Orangutan SVP has one TB6612FNG motor driver for each motor output. Each motor driver can deliver a continuous 2 A, and can briefly deliver up to 6 A. If you are not... - Page 8 [http://www.pololu.com/docs/0J18/7] Library. For each motor, the Orangutan SVP has a current-sensing circuit that produces an output voltage proportional to the current the motors are using (850 mV/A). The respective outputs of these circuits are labeled CS1 and CS2, and they are accessible near the center of the board.
- Page 9 The AVR’s AREF pin is available next to the backlight pin. Pushbuttons The Orangutan SVP has five total pushbuttons: a power on/off button located on the right side of the bottom edge of the board, a reset button located on the left side of the top edge of the board, and three user pushbuttons located along the left edge of the board.
- Page 10 It transmits TTL-level serial bytes received from the computer on the “Pololu Orangutan SVP TTL Serial Port”. The lines A, B, C, and D/RX can be configured to do different things. They can function as three analog inputs plus a serial receive line, as four analog inputs, or as the inputs for two quadrature encoders.
- Page 11 © 2001–2010 Pololu Corporation Adjustable Voltage (VADJ) In addition to the 5 V regulator that supplies VCC, the Orangutan SVP comes with an adjustable voltage regulator. Both regulators can supply a current of 3 A. The adjustable voltage regulator draws current from the external power supply (VBAT), and produces an output voltage called VADJ.
- Page 12 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation programmer gets this message, the green LED will be on, but it will flicker briefly when there is USB activity. • Another LED is located near the header for the auxiliary processor’s TX line.
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Page 13: Getting Started
(Windows XP) or “Install this driver software anyway” (Windows Vista). Windows Vista users: After the INF file is installed, your computer should automatically install the necessary drivers when you connect an Orangutan SVP, in which case no further action from you is required. - Page 14 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation devices and display the “Found New Hardware Wizard” three times. Each time the “Found New Hardware Wizard” pops up, follow steps 6-9. 6. When the “Found New Hardware Wizard” is displayed, select “No, not this time” and click “Next”.
- Page 15 [http://support.microsoft.com/kb/918365] After installing the drivers, if you go to your computer’s Device Manager and expand the “Ports (COM & LPT)” list, you should see three COM ports: Pololu Orangutan SVP Programmer (Section 5.c), Pololu Orangutan SVP USB Communication Port (Section 8), and the Pololu Orangutan SVP TTL Serial Port (Section 9).
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Page 16: Using The Demo Program
SVP (or bought the assembled version), you will also hear a beep. If you have connected an LCD, you will see the words “Pololu Orangutan SVP”, then “Demo Program” appear, indicating that you are running the demo program. If you see the blinking red LED but do not see any text on the LCD, you may need to adjust the contrast potentiometer in the lower left corner of the board. -
Page 17: Programming Your Orangutan
9. USB: Demonstrates the USB connection between the Orangutan SVP and a computer. Plug the Orangutan SVP in to USB. Any bytes you send on the Pololu Orangutan SVP USB Communications Port (Section 8) will be displayed on the screen, and echoed back to the computer so you can see them in your terminal program. - Page 18 Project by double clicking on BlinkLED.aps. Connect your Orangutan SVP to USB. Turn on your Orangutan SVP using the power button (the blue LED must be on). In the Tools menu, select Program AVR > Connect…. Select the AVRISP platform. Select the COM port of the “Pololu Orangutan SVP Programmer”...
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Page 19: Assembling The Kit Version
. The user’s guide is specific to our USB AVR programmer, but much of the section 0J36] on using AVR Studio is relevant to using the Orangutan SVP’s built-in programmer. One notable difference, however, is that the Orangutan SVP’s built-in programmer ignores AVR Studio’s ISP frequency parameter and always programs at 2 MHz. - Page 20 To turn on your the AVR, you need to connect a power button (or a jumper at location 11). The Orangutan SVP PCB has two parallel sets of holes for the power button. You can solder a pushbutton between the wider set of holes, and/or you can make your own connection to the narrower of holes using an included 1×2 header or direct soldering.
- Page 21 17. LCD backlight connection and structural support If you choose to mount a 16×2 LCD on the Orangutan SVP as is done in the assembled version, you will want to solder in the two single-pin female headers at this location. This 5.
- Page 22 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation prevents the LCD from tipping down on to the board and also powers the backlight (if your LCD has one). 5. Getting Started Page 22 of 37...
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Page 23: Avr Pin Assignment Table Sorted By Function
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 6. AVR Pin Assignment Table Sorted by Function Function ATmega324/1284 Pin free analog input and digital I/O (x8) PA0 – PA7 free digital I/O (x8) PB3, PC0, PC1, PD0 – PD4, PD5**... -
Page 24: Avr Pin Assignment Table Sorted By Pin
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 7. AVR Pin Assignment Table Sorted by Pin 7. AVR Pin Assignment Table Sorted by Pin Page 24 of 37... - Page 25 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation Port Pin Orangutan Function Notes/Alternate Functions PA0 analog input and digital I/O ADC input channel 0 (ADC0) PA1 analog input and digital I/O ADC input channel 1 (ADC1) PA2 analog input and digital I/O...
- Page 26 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation PD0 digital I/O USART0 input pin (RXD0) red user LED (low turns LED on; connection PD1 digital I/O can be cut and replaced with jumper) USART0 output pin (TXD0) USART1 input pin (RXD1)
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Page 27: Using The Usb Communication Port
If you see more than three ports, then you should look at the output from dmesg when you plug in the Orangutan SVP to see which three ports are created; the second port is the USB Communication Port. In Linux, the port name depends on how many other devices are using the USB CDC ACM driver to create virtual serial ports at the time the Orangutan SVP is plugged in. - Page 28 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation After determining the port name, you can use any serial port software to communicate on that port. There many free terminal programs available, including PuTTY Tera (Windows Linux), [http://www.chiark.greenend.org.uk/~sgtatham/putty/] Term (Windows), Br@y [http://hp.vector.co.jp/authors/VA002416/teraterm.html]...
- Page 29 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation The SVP-specific functions section of the library provides the rts_enabled() and dtr_enabled() functions which return the states of those control lines. Complete documentation of the SVP-specific functions can be found in Section 12 of the Pololu AVR Library Command Reference .
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Page 30: Using The Ttl Serial Port
TTL Serial Port. In Linux, the port name depends on how many other devices are using the USB CDC ACM driver to create virtual serial ports at the time the Orangutan SVP is plugged in. After determining the port name, you can use any serial port software to communicate on that port. - Page 31 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation Terminal (Windows). To use any of these terminal [http://sites.google.com/site/terminalbpp/] programs, you must specify the port name determined above, and the baud rate. PuTTY is a free Windows terminal program that can send and receive bytes on a serial port.
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Page 32: Motor Driver Truth Table
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 10. Motor Driver Truth Table Input Orangutan SVP output PD7, PD6 PC7, PC6 M1A, M2A M1B, M2B motor effect LED on “forward”* green “reverse”* H or L brake low none * Note that the concept of “forward” is arbitrary as simply flipping the motor leads results in rotation in the opposite direction. -
Page 33: Usb Power
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 11. USB Power When connected to a computer, the USB connection provides a 5 V power supply. If an external power supply is present, the unit will run off of the external supply and not draw any power from USB. -
Page 34: Upgrading Firmware
1. Connect the Orangutan SVP to your computer via USB. 2. Open up the Device Manager. 3. Double click on the “Pololu Orangutan SVP Programmer” entry in the “Ports (COM & LPT)” list. 4. In the Details tab, select the “Hardware Ids” property in the dropdown box. - Page 35 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 3. Turn off the power to the Orangutan SVP’s AVR. The blue power LED should be off. You will have to remove the VCC-VUSB jumper if it is present. 4. The bootloader line is shown in the picture below. Short this line to ground by connecting one end of a wire to ground and touching the other end to the hole, being extremely careful not to touch any of the neighboring parts.
- Page 36 Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 11. While the file is being sent, the bootloader will echo back period characters (”..”). This process will take about 5 seconds. When the firmware upgrade is complete, the bootloader should echo back a pipe character (”|”).
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Page 37: Related Resources
Pololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation 13. Related Resources The following list of resources might come in handy: • WinAVR : free, open source C/C++ compiler for AVRs [http://winavr.sourceforge.net/] • AVR Studio : free development IDE from Atmel that [http://www.atmel.com/avrstudio/]...
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