NEX ROBOTICS Fire Bird V ATMEGA2560 HEXAPOD User Manual page 22

5. Microcontroller Pin Functionality
Following table shows the pin functionality of the Fire Bird V.
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
OC0A/OC1C/PCINT7/
26
PB7
27 T4/PH7
28 TOSC2/PG3
29 TOSC1/PG4
30 RESET
31 VCC
32 GND
33 XTAL2
34 XTAL1
35 ICP4/PL0
36 ICP5/PL1
37 TS/PL2
38 OC5A/PL3
39 OC5B/PL4
40 OC5C/PL5
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
Fire Bird V ATMEGA2560 Hexapod Robot User Guide
USED FOR
Slave Select (SS) of the SPI expansion port on the main
board (refer to figure 8.5 )
UART 0 receive For ZigBee wireless module (if installed)
UART 0 transmit For ZigBee wireless module (if installed)
GPIO* (Available on expansion slot of the microcontroller
socket)
UART 2 transmit for USB Communication or Boot loading
Sharp IR ranges sensor 1and 5 disable.
Turns off these sensors when output is logic 1 *******
IR proximity sensors 1 to 8 disable.
Turns off these sensors when output is logic 1 *******
Servo 3B
Servo 3C
Servo 3A
ISP (In System Programming), SPI Communication with
ATMEGA8 **, Connection to the SPI port on the main
board
Servo Pod GPIO
PWM for Servo motor 1. *** (tilt servo camera pod)
PWM for Servo motor 2. *** (pan Servo camera pod)
PWM for Servo motor 3. ***
GPIO (Available On Expansion Slot)
RTC (Real Time Clock)****
Microcontroller reset
5V
Ground
Crystal 14.7456 MHz
GPIO (Available on expansion slot of the microcontroller
socket)
Left side spare servo
Servo 1B
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Status
(unused)
Default
Default
unused
Output(unused)
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Input(unused)
--
--
Default
Default
Output(unused)
Output(unused)
Output
Output
Output
Output
Output
Output
Input
(unused)
Output
Output
Output(unused)
(unused)
(unused)
(unused)
--
--
--
--
(unused)
--
Output
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