Human-Robot Interaction Class Koosy Human-Robot Interaction Class

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1 ATmega128 (8bit AVR Microprocessor) Human-Robot Interaction Class Koosy 1

2 Contents Micro Controller Unit Overview ATmega128 Features Necessary Tools General I/O External Interrupt 8bit/16bit Timer/Counter Timer Interrupt PWM Generation Analog to Digital Converter USART 2

3 Micro Controller Unit Controller : Controls the flow of information Arithmetic Logic Unit : +, -, *, /, Shift, Rotate, AND, OR Memory : RAM(SRAM/DRAM ), ROM(Flash, EEPROM ) I/O : 2007 TCL Summer AVR Application Study 3

memory space 53 programmable I/O lines 8 Channels external interrupt Two 8-bit Timer/Counter Two 16-bit Timer/Counter 6 PWM channels

4 ATmega128 Features AVR 8-bit Microcontroller ATmega128L : 2.7~5.5V, 0~8MHz ATmega128 : 4.5~5.5V, 0~16MHz 128K Bytes of in-system reprogrammable flash 4K Bytes EEPROM 4K Bytes Internal SRAM Up to 64K Bytes optional external memory space 53 programmable I/O lines 8 Channels external interrupt Two 8-bit Timer/Counter Two 16-bit Timer/Counter 6 PWM channels with programmable resolution (2~16 bit) Output compare modulator 8-channels, 10-bit ADC Dual programmable Serial USART s Master/Slave SPI Serial interface On-chip Analog Comparator 4

5 Necessary Tools For Programming AVRStudio WinAVR Codevision For download and debug ISP : downlode JTAG : downlode + debug 5

6 General I/O 53 Read/Write convertible pin DDRn : Data Direction Register 0 : input / 1 : output Input DDRn : 0 PORTn : 1 using pull-up resistor 0 no using pull-up resistor PINn : Data resister Output DDRn : 1 PORTn : initial value 6

7 General I/O How to use? Output PIN Initial i Value Input PIN Pul-up up Resister 2007 TCL Summer AVR Application Study 7

8 External Interrupt 8 channels : INT0~7 Execute some function from external digital input Mode : low level / falling edge / rising edge 8

9 External Interrupt. How to use? Enable Ext IRQ Mode Select Falling Edge Rising Edge 9

10 External Interrupt. How to use? // External Interrupt 0 service routine interrupt [EXT_INT0] void ext_int0_isr(void){ // Place your code here } // External Interrupt 1 service routine interrupt [EXT_INT1] void ext_int1_isr(void){ i id){ // Place your code here } Function definition // External Interrupt(s) initializationi i i // INT0: On // INT0 Mode: Falling Edge // INT1: On // INT1 Mode: Rising i Edge // INT2: Off // INT3: Off // INT4: Off // INT5: Off // INT6: Off // INT7: Off EICRA=0x0E; EICRB=0x00; 00 EIMSK=0x03; EIFR=0x03; Resister setting 10

11 8bit/16bit Timer/Counter 8bit Timer Timer0, Timer2 8-bit Clear Timer on Compare Match(Auto Reload) Phase Correct PWM 10-bit Clock Prescaler Overflow and Compare Match Interrupt Source 16bit Timer Timer1, Timer3 16-bit Three independent Output Compare Unit Double Buffered Output Compare Registers One Input Capture Unit Clear Timer on Compare Match (Auto Reload) Phase Correct PWM Variable PWM Period 1 Overflow, 3 Output Compare, 1 Input Capture Interrupt Sources 11

12 8-bit Timer (Timer0, Timer2) Overflow Interrupt Timer Speed Output Compare Interrupt 8-bit register PWM Output Pin 12

13 Modes of Operation 1 Normal Mode Increase TCNT from Bottom(0x00) to Max(0xff) Overflow Interrupt at Max TCNT Restart from the Bottom when TCNT reaches to the Max Clear Timer of Compare Match (CTC)Mode 13

14 Modes of Operation 2 Fast PWM Mode 14

15 Modes of Operation 3 Phase Correct PWM Mode 15

16 16-bit Timer (Timer1, Timer3) Overflow Interrupt Timer Speed Output t Compare Interrupt t 16-bit register PWM Out Pin 16

17 Modes of Operation 1 Normal Mode Increase TCNT from Bottom(0x00) to Max(0xff) Overflow Interrupt at Max TCNT Restart from the Bottom when TCNT reaches to the Max Clear Timer of Compare Match (CTC)Mode 17

18 Modes of Operation 2 Fast PWM Mode 18

19 Modes of Operation 3 Phase Correct PWM Mode 19

20 Modes of Operation 4 Phase & Frequency Correct PWM Mode 20

21 Code Vision Setting Timer Speed Mode Selection Output pin Interrupt TCNT Output Compare Value 21

22 Example 1 1ms Timer interrupt Timer : 250kHz Mode : CTC OCR0 : 250 (0xfa) PWM generation Period : 1ms, Duty : 10%, Fast PWM 0.1ms 1ms Timer : 250kHz Mode : Fast PWM top=icr1 ICR1 = 0x00fa OCR1 = 0x

23 Codevision Program for Quiz1-11 // Timer 0 output compare interrupt service routine interrupt [TIM0_COMP] void timer0_comp_isr(void) { // Place your code here } // Port B initialization // Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T PORTB=0x00; DDRB=0x30; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: khz // Mode: Normal top=ffh // OC0 output: Disconnected ASSR=0x00; TCCR0=0x04; TCNT0=0x00; OCR0=0xFA; 23

24 Codevision Program for Quiz1-2 // Port B initialization // Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T PORTB=0x00; DDRB=0x30; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: khz // Mode: Fast PWM top=icr1 // OC1A output: Non-Inv. // OC1B output: Discon. // OC1C output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge TCCR1A=0x82; TCCR1B=0x1B; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0xFA; OCR1AH=0x00; OCR1AL=0x19; OCR1BH=0x00; OCR1BL=0x00; OCR1CH=0x00; OCR1CL

25 Example 2 Set 16bit Timer for driving IC-servo motor IC-servo motor spec Pulse duration : 0.9ms~2.1ms. Pulse refreshes over 50Hz(20ms) Answer Clock : 2000kHz Duty : 65535/2000k = 32ms 0.9ms : 1800tic 2.1ms : 4200tic Resolution : =

26 Codevision Program for Quiz2 // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: khz // Mode: Fast PWM top=icr1 // OC1A output: Non-Inv. TCCR1A=0x82; TCCR1B=0x1A; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0xFF; ICR1L=0xFF; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00; OCR1CH=0x00; OCR1CL=0x00; void main(void) { while(1){ // 0.9ms : 1800 ~ 2.1ms : 4200 // center 1.5ms : 3000 } OCR1AH = (3000 >> 8) & 0x00ff; OCR1AL = 3000 & 0x00ff; 26

27 Analog to Digital Converter 8 channels 10-bit / 8-bit resolution 0 ~ 5v Input Voltage Range Interrupt on ADC Conversion Complete 27

28 Code Vision Setting 28

29 Codevision Program #define ADC_VREF_TYPE 0x00 // Read the AD conversion result unsigned int read_adc(unsigned char adc_input) { ADMUX=adc_input ADC_VREF_TYPE; // Start the AD conversion ADCSRA =0x40; // Wait for the AD conversion to complete while ((ADCSRA & 0x10)==0); ADCSRA =0x10; return ADCW; } // ADC initialization // ADC Clock frequency: khz // ADC Voltage Reference: AREF pin ADMUX=ADC_VREF_TYPE; ADCSRA=0x87; while (1) { }; unsigned int a; a= read_adc(1); } 29

30 USART 2 channels Full duplex operation Asynchronous & Synchronous operation 5,6,7,8 or 9 data bits and 1 or 2 stop bits Odd or Even parity bit 2400~ Baud rate 30

31 USART Codevision Setting 31

32 USART Codevision Program char getchar(void){ char data; while (rx_counter0==0); data=rx_buffer0[rx_rd_index0]; if (++rx_rd_index0 == RX_BUFFER_SIZE0) rx_rd_index0=0; #asm("cli") --rx_counter0; #asm("sei") return data; } void putchar(char c){ while (tx_counter0 == TX_BUFFER_SIZE0); #asm("cli") if (tx_counter0 ((UCSR0A & DATA_REGISTER_EMPTY)==0)) { tx_buffer0[tx_wr_index0]=c; if (++tx_wr_index0 == TX_BUFFER_SIZE0) tx_wr_index0=0; ++tx_counter0; } else UDR0=c; #asm("sei") } 32

33 USART Codevision Program // USART0 Receiver interrupt service routine interrupt [USART0_RXC] void usart0_rx_isr(void) { char status,data; status=ucsr0a; data=udr0; if ((status & (FRAMING_ERROR PARITY_ERROR DATA_OVERRUN))==0) { rx_buffer0[rx_wr_index0]=data; if (++rx_wr_index0 == RX_BUFFER_SIZE0) rx_wr_index0=0; if (++rx_counter0 == RX_BUFFER_SIZE0) { rx_counter0=0; rx_buffer_overflow0=1; }; }; } void main(void) { char c; While(1){ c=getchar(); } } putchar(c); 33

34 Serial Packet for multi-data Add start and end byte Add check sum byte Example Transmit data1~3 Start byte : s, t End byte : e, d s t data1 data2 data3 data1+data2+data3 e d 34

35 THANK YOU 2007 TCL Summer AVR Application Study 35

University of Florida Department of Electrical and Computer Engineering EEL 5666 Intelligent Machines Design Laboratory. GatorVac Written Report 2

University of Florida Department of Electrical and Computer Engineering EEL 5666 Intelligent Machines Design Laboratory GatorVac Written Report 2 By M. Gabriel Jiva July 8, 2003 Table of Contents Abstract..03