Pin Functionality - NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual

4. Pin Functionality

Fire Bird V ATMEGA2560 microcontroller adapter board has two microcontrollers.
ATMEGA2560 (master
ATMEGA2560 communicates with ATMEGA8 using SPI bus.
ATMEGA2560 is interfaced to all the important modules for the robot while ATMEGA8
microcontroller is interfaced with non critical modules such as IR proximity sensors 6, 7, 8,
Robot current sensing (if ACS712 current sensor is installed), extended white line sensor
channels 4, 5, 6, 7 and pin on the servo sensor socket etc.
4.1 ATMEGA2560 (master) microcontroller pin configuration
Pin Pin name
No
1 (OC0B)PG5
2 RXD0/PCINT8/PE0
3 TXD0/PE1
4 XCK0/AIN0/PE2
5 OC3A/AIN1/PE3
6 OC3B/INT4/PE4
7 OC3C/INT5/PE5
8 T3/INT6/PE6
9 CLK0/ICP3/INT7/ PE7
10 VCC
11 GND
12 RXD2/PH0
13 TXD2/PH1
14 XCK2/PH2
15 OC4A / PH3
16 OC4B / PH4
17 OC4C / PH5
18 OC2B / PH6
19 SS/PCINT0/PB0
20 SCK/PCINT1/PB1
21 MOSI/PCINT2/PB2
22 MISO/PCINT3/PB3
23 OC2A/PCINT4/PB4
24 OC1A/PCINT5/PB5
25 OC1B/PCINT6/PB6
26 OC0A/OC1C/PCINT7/PB7
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
microcontroller) and
Slave Select (SS) of the SPI expansion port on the main board
(refer to figure 3.5)
UART 0 receive for XBee wireless module (if installed)
UART 0 transmit for XBee wireless module (if installed)
GPIO* (Available on expansion slot of the microcontroller
socket)
PWM output for C2 motor drive
External Interrupt for the left motor's position encoder
External Interrupt for the right motor's position encoder
External Interrupt for the C2 motor's position encoder
External Interrupt for Interrupt switch on the microcontroller
board, External Interrupt for the C1 motor's position encoder,
Connection to TSOP1738 if pad is shorted, can also be used
as Boot loading switch ********
5V
Ground
UART 2 receives for USB Communication.
For more details refer to section 3.19.7
UART 2 transmit for USB Communication.
For more details refer to section 3.19.7
IR proximity sensors 1 to 8 enable / disable.
Turns off these sensors when output is logic 1 *******
Sharp IR ranges sensor 1and 5 enable / disable.
Turns off these sensors when output is logic 1 *******
Connected to Rx pin of 1
the ultrasonic sensor if sensor is mounted. Also Available on
expansion slot of the microcontroller socket*********
Available on expansion slot of the microcontroller socket
Available on expansion slot of the microcontroller socket
ISP (In System Programming), SPI Communication with
ATMEGA8 **, Connection to the SPI port on the main board.
Also available on expansion slot of the microcontroller socket
Servo Pod GPIO
PWM for Servo motor 1. ***
PWM for Servo motor 2. ***
PWM for Servo motor 3. ***
Fire Bird V ATMEGA2560 Hardware Manual
ATMEGA8 (slave)
USED FOR
st
Ultrasonic range sensor to trigger
microcontroller.
Status
--
Default
Default
Output
Input
Input
Input
Input
Default
Default
Output
Output
--
--
--
Output
Output
Input
--
Output
Output
Output
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