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Pololu Orangutan SVP User Manual

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Pololu Orangutan SVP User's Guide
Pololu Orangutan SVP User's
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.a. Installing Windows Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.b. Using the Demo Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.c. Programming in Windows with AVR Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.d. Programming in Linux or Windows using AVRDUDE . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.e. Assembling the kit version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6. AVR Pin Assignment Table Sorted by Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7. AVR Pin Assignment Table Sorted by Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8. Using the USB Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9. Using the TTL Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
10. Motor Driver Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
11. USB Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
12. Upgrading Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
13. Related Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
http://www.pololu.com/docs/0J39
Guide
© 2001-2011 Pololu Corporation
Page 1 of 40

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Summary of Contents for Pololu Orangutan SVP

  • Page 1: Table Of Contents

    2. Contacting Pololu ........

  • Page 2: Overview

    PIC18F14K50 MCU that supports the main processor and serves as an integrated AVR ISP programmer, which means that no external programmer is required to use the Orangutan SVP. This auxiliary processor provides a USB connection that allows direct communication with a PC, and its firmware lets it perform several useful task in parallel with the main microcontroller.

  • Page 3: 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 AVR, communicate directly with the AVR from a computer, or communicate with TTL-level serial devices from a computer.
  • 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.

  • Page 5: Contacting Pololu

    Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation 2. Contacting Pololu You can check the Orangutan SVP-324 robot controller page [http://www.pololu.com/catalog/product/1325] Orangutan SVP-1284 robot controller page for additional information, [http://www.pololu.com/catalog/product/1327] including pictures, example code, and application notes. You can also find libraries for interacting with the on-...

  • Page 6: Schematic Diagrams

    Pololu Orangutan SVP User's Guide © 2001–2011 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 40...

  • Page 7: Module Pinout And Components

    © 2001–2011 Pololu Corporation 4. Module Pinout and Components The Orangutan SVP contains a programmable AVR ATmega324PA or ATmega1284P microcontroller connected to two motor drivers for direct control of two DC motors, a 16×2 character LCD, a buzzer, three user pushbuttons, two user LEDs, and a demultiplexer for servo control.
  • Page 8 Power & Motor Connections Power for the Orangutan SVP should be connected to the positive (+) and ground (GND) terminals near the words “Power In” on the board. The input voltage (VIN) of the power supply should be 6 – 13.5 V, from which the on- board regulator generates the 5 V supply (VCC) that is used to power the logic.
  • Page 9 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 I/O line. The TX line is the serial transmit line. 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.
  • Page 11 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, and produces an output voltage called VADJ.
  • Page 12 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation LEDs Orangutan SVP LEDs. The Orangutan SVP comes with 9 LEDs: • A blue power LED is located next to the power button. • There are four motor indicator LEDs located near the motor outputs. A...
  • Page 13 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation 3.0 V. If this happens to you, check your power connections and battery voltage, and make sure you are not drawing too much power from the board. 4. Module Pinout and Components...

  • Page 14: Getting Started

    (Windows Vista). Windows 7 and Vista users: After the installation is complete, your computer should automatically install the necessary drivers when you connect an Orangutan SVP, in which case no further action from you is required. 5. Getting Started...
  • Page 15 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation Windows XP users: After the installation is complete, follow steps 3-7 for each new Orangutan SVP you connect to your computer. 3. Connect the device to your computer’s USB port. The Orangutan SVP shows up as three devices in one so your XP computer will detect all three of those new devices and display the “Found New...
  • Page 16 Click “Continue Anyway”. 7. When you have finished the “Found New Hardware Wizard”, click “Finish”. After that, another wizard will pop up. You will see a total of three wizards when plugging in the Orangutan SVP. Follow steps 4-7 for each wizard.
  • Page 17 Microsoft’s usb-to-serial driver usbser.sys. Versions of this driver prior to version 5.1.2600.2930 will not work with the Orangutan SVP. You can check what version of this driver you have by looking in the “Details” tab of the “Properties” window for C:\Windows\System32\drivers\usbser.sys. To get...

  • Page 18: Using The Demo Program

    The Demo Program The Orangutan SVP ships with a demo program pre-loaded which demonstrates most of its features and allows you to test that it is working correctly. After you first connect an external power supply and turn on your Orangutan, you should see the red user LED blinking about once per second.

  • Page 19: Programming In Windows With Avr Studio

    1. Analog Inputs: This demo displays voltage readings from the Orangutan SVP’s 13 analog inputs as a bar graph. The inputs are in this order: PA7, PA6, PA5, PA4, PA3, PA2, PA1, PA0, trimpot, A, B, C, D. You can press the top button to enable/disable the pull-up resistors on PA0—PA7.
  • Page 20 (which is created in the default directory when you build the project). Make sure that the Orangutan SVP’s AVR is powered (the blue LED must be on). Now click the Program flash button.
  • Page 21 . The user’s guide is specific to our [http://www.pololu.com/docs/0J36] USB AVR programmer, but much of the section 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 22: Programming In Linux Or Windows Using Avrdude

    Orangutan SVP’s on-board ATmega324PA or ATmega1284P microcontroller. You can compile an Intel Hex (.hex) file using avr-gcc, and then program the hex file on to your Orangutan SVP using AVRDUDE. AVRDUDE accomplishes this by sending serial commands to the Orangutan SVP’s built-in AVR ISP programmer.

  • Page 23: Assembling The Kit Version

    . In Windows, look in your Device Manager for an entry that says “Pololu dmesg Orangutan SVP Programmer”. If the COM number is greater than 9 (e.g. COM10) then you may need to put \\.\ before it (e.g.
  • Page 24 1. Power button 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...
  • Page 25 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation 4. User I/O blocks The AVR user I/O pins are divided in to four blocks. The kit comes with enough 3×4 headers so that you can choose for each block whether to make its pins female or male. You can also mix the genders together within one block using the other included headers.
  • Page 26 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 prevents the LCD from tipping down on to the board and also powers the backlight (if your LCD has one).

  • Page 27: Avr Pin Assignment Table Sorted By Function

    See Section 6.j of the Pololu USB AVR C/C++ User’s Guide for more information. **: PD5 is a free digital I/O unless you want to use the built-in servo pulse hardware. 6. AVR Pin Assignment Table Sorted by Function...

  • Page 28: Avr Pin Assignment Table Sorted By Pin

    Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation 7. AVR Pin Assignment Table Sorted by Pin Port A Pins Orangutan Function Notes/Alternate Functions analog input and digital I/O ADC input channel 0 (ADC0) analog input and digital I/O ADC input channel 1 (ADC1)
  • Page 29 *: Using PB4/SS as an input will interfere with communication to the auxiliary processor, so we recommend using it as a digital output. See Section 6.j of the Pololu USB AVR C/C++ User’s Guide for more information. 7. AVR Pin Assignment Table Sorted by Pin Page 29 of 40...

  • Page 30: Using The Usb Communication Port

    To determine the port name in Microsoft Windows, open the Device Manager, expand the “Ports (COM & LPT)” list, and look for the Pololu Orangutan SVP USB Communication Port entry. The port name will be at the end of this line in parentheses (e.g. “COM3”). In Windows, a given device will always be associated with the same...
  • Page 31 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 32 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation // Disconnect from the port so that other programs can use it. port.Close(); Communication on the AVR side Writing programs for the USB Communications port on the AVR side is supported by two different sections of the Pololu AVR C/C++ Library.

  • Page 33: Using The Ttl Serial Port

    To determine the port name in Microsoft Windows, open the Device Manager, expand the “Ports (COM & LPT)” list, and look for the Pololu Orangutan SVP TTL Serial Port entry. The port name will be at the end of this line in parentheses (e.g.
  • Page 34 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation PuTTY is a free Windows terminal program that can send and receive bytes on a serial port. If you need to send and receive non-ASCII bytes, you can use the Pololu Serial Transmitter Utility for Windows [http://www.pololu.com/docs/0J23]...

  • Page 35: Motor Driver Truth Table

    AVR timer hardware. You can control the Orangutan SVP’s motors using the functions in the OrangutanMotors section of the Pololu AVR C/C++ Library, or you can write your own code. [http://www.pololu.com/docs/0J18/7] 10. Motor Driver Truth Table...

  • Page 36: Usb Power

    Pololu Orangutan SVP User's Guide © 2001–2011 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. If only the USB power is present, then by default the auxiliary processor will be powered from USB, but the AVR and the VCC power pins on the board will not be powered.

  • Page 37: Upgrading Firmware

    2. Connect the Orangutan SVP to your computer via USB. 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.
  • Page 38 Diagram (82k pdf) if you [http://www.pololu.com/file/download/orangutan_svp_reference_diagram.pdf?file_id=0J244] are not sure where to find ground. You may have to remove the Orangutan SVP’s LCD to access the bootloader line. The Orangutan SVP’s bootloader line. 5. The Orangutan SVP will now disconnect itself from your computer and reappear as a new device called “Pololu org06a Bootloader”.
  • Page 39 Pololu Orangutan SVP User's Guide © 2001–2011 Pololu Corporation 12. You can now unplug your SVP and plug it back in to the computer and use the new firmware. If you run into problems during a firmware upgrade, please contact us for assistance.

  • Page 40: Related Resources

    Pololu Orangutan SVP User's Guide © 2001–2011 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/] • Studio [http://www.atmel.com/forms/ free software_download.asp?category_id=163&family_id=607&subfamily_id=760&fn=dl_AvrStudio4Setup.exe] development IDE from Atmel that uses WinAVR as its compiler •...

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