ATmega128 ATmega128 gg(8bit AVR Microprocessor)(8bit AVR Microprocessor)

Human-Robot Interaction Class2008. 4. 28 Koosy

12008 Human-Robot Interaction Class

ContentsContentsContentsContentsMicro Controller Unit Overview Micro Controller Unit Overview ATmega128 Features Necessary ToolsNecessary Tools

General I/OGeneral I/OExternal Interrupt8bit/16bit Timer/Counter8bit/16bit Timer/Counter◦ Timer Interrupt◦ PWM Generation◦ PWM Generation

Analog to Digital ConverterUSARTUSART

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Micro Controller UnitMicro Controller UnitMicro Controller UnitMicro Controller Unit

Controller : Controls the flow of information

Arithmetic Logic Unit : +, -, *, /, Shift, Rotate, AND, OR…g

Memory : RAM(SRAM/DRAM…), ROM(Flash, EEPROM…)

I/O : …

2007 TCL Summer AVR Application Study 32008 Human-Robot Interaction Class

ATmega128 FeaturesATmega128 FeaturesATmega128 FeaturesATmega128 FeaturesAVR 8-bit MicrocontrollerATmega128L : 2.7~5.5V, 0~8MHzATmega128 : 4.5~5.5V, 0~16MHz128K Bytes of in-system reprogrammable flash4K Bytes EEPROM4K Bytes EEPROM4K Bytes Internal SRAMUp to 64K Bytes optional external memory space

53 programmable I/O lines8 Channels external interruptTwo 8-bit Timer/CounterTwo 16 bit Timer/CounterTwo 16-bit Timer/Counter6 PWM channels with programmable resolution (2~16 bit)Output compare modulator8-channels, 10-bit ADCDual programmable Serial USART’sMaster/Slave SPI Serial interfaceOn-chip Analog Comparator

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Necessary ToolsNecessary ToolsNecessary ToolsNecessary ToolsFor ProgrammingFor Programming◦ AVRStudio◦ WinAVRWinAVR◦ Codevision

For download and debug◦ ISP : downlodeISP : downlode◦ JTAG : downlode + debug

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General I/OGeneral I/OGeneral I/OGeneral I/O53 Read/Write convertible pin53 Read/Write convertible pinDDRn : Data Direction Register

0 : input / 1 : outputp p

Input◦ DDRn : 0

◦ PORTn : 1 – using pull-up resistor0 – no using pull-up resistor

◦ PINn : Data resisterPINn : Data resister

Output◦ DDRn : 1

◦ PORTn : initial value

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General I/O How to use?General I/O How to use?General I/O How to use?General I/O How to use?

Output PINI i i l V l

p

I t PIN

Initial Value

Pul-up ResisterInput PIN Pul up Resister

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External InterruptExternal InterruptExternal InterruptExternal Interrupt8 channels : INT0~78 channels : INT0 7

Execute some function from external digital inputMode : low level / falling edge / rising edgeMode : low level / falling edge / rising edge

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External Interrupt How to use?External Interrupt How to use?External Interrupt. How to use?External Interrupt. How to use?

Enable Ext IRQ M d S l tEnable Ext IRQ Mode Select

Falling Edge

Rising Edge

9

g g

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External Interrupt How to use?External Interrupt How to use?External Interrupt. How to use?External Interrupt. How to use?// External Interrupt 0 service routine

[ ] d ( d){interrupt [EXT_INT0] void ext_int0_isr(void){

// Place your code here

}

// External Interrupt 1 service routine

i [EXT INT1] id i 1 i ( id){

Function definition

interrupt [EXT_INT1] void ext_int1_isr(void){

// Place your code here

}

// E l I ( ) i i i li i// External Interrupt(s) initialization

// INT0: On

// INT0 Mode: Falling Edge

// INT1: On

// INT1 M d Ri i Ed// INT1 Mode: Rising Edge

// INT2: Off

// INT3: Off

// INT4: Off

// INT5 Off

Resister setting

// INT5: Off

// INT6: Off

// INT7: Off

EICRA=0x0E;

EICRB 0 00

10

EICRB=0x00;

EIMSK=0x03;

EIFR=0x03;

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8bit/16bit Timer/Counter 8bit/16bit Timer/Counter 8bit/16bit Timer/Counter 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◦ Three independent Output Compare Unit◦ Double Buffered Output Compare Registers◦ One Input Capture Unit

Cl Ti C M t h (A t R l d)◦ Clear Timer on Compare Match (Auto Reload)◦ Phase Correct PWM◦ Variable PWM Period

1 O fl 3 O C 1 I C I S◦ 1 Overflow, 3 Output Compare, 1 Input Capture Interrupt Sources

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88 bit Timer (Timer0 Timer2) bit Timer (Timer0 Timer2) 88--bit Timer (Timer0, Timer2) bit Timer (Timer0, Timer2)

Overflow Interrupt

Output Compare InterruptTimer Speed

8-bit register

PWM Output Pin

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Modes of Operation 1Modes of Operation 1Modes of Operation 1Modes of Operation 1Normal ModeNormal Mode◦ Increase TCNT from Bottom(0x00) to Max(0xff)◦ Overflow Interrupt at Max TCNTOverflow Interrupt at Max TCNT◦ Restart from the Bottom when TCNT reaches to the Max

Clear Timer of Compare Match (CTC)Mode

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Modes of Operation 2Modes of Operation 2Modes of Operation 2Modes of Operation 2Fast PWM ModeFast PWM Mode

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Modes of Operation 3Modes of Operation 3Modes of Operation 3Modes of Operation 3Phase Correct PWM ModePhase Correct PWM Mode

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1616 bit Timer (Timer1 Timer3) bit Timer (Timer1 Timer3) 1616--bit Timer (Timer1, Timer3) bit Timer (Timer1, Timer3) Overflow Interrupt

Timer Speed

O t t C I t t

p

16-bit register

Output Compare Interrupt

PWM Out Pin

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Modes of Operation 1Modes of Operation 1Modes of Operation 1Modes of Operation 1Normal ModeNormal Mode◦ Increase TCNT from Bottom(0x00) to Max(0xff)◦ Overflow Interrupt at Max TCNTOverflow Interrupt at Max TCNT◦ Restart from the Bottom when TCNT reaches to the Max

Clear Timer of Compare Match (CTC)Mode

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Modes of Operation 2Modes of Operation 2Modes of Operation 2Modes of Operation 2Fast PWM ModeFast PWM Mode

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Modes of Operation 3Modes of Operation 3Modes of Operation 3Modes of Operation 3Phase Correct PWM ModePhase Correct PWM Mode

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

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Code Vision SettingCode Vision SettingCode Vision SettingCode Vision Setting

Timer Speed

Mode Selection

Output pin

Interrupt

TCNT

Output Compare Value

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Example 1Example 1Example 1Example 11ms Timer interrupt1ms Timer interrupt◦ Timer : 250kHz

◦ Mode : CTC

◦ OCR0 : 250 (0xfa)

PWM generation ◦ Period : 1ms, Duty : 10%, Fast PWM

1ms1ms0.1ms

◦ Timer : 250kHz

◦ Mode : Fast PWM top=ICR1p

◦ ICR1 = 0x00fa

◦ OCR1 = 0x0019 222008 Human-Robot Interaction Class

CodevisionCodevision Program for Quiz1Program for Quiz1 11CodevisionCodevision Program for Quiz1Program 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: 250.000 kHz

// Mode: Normal top=FFh

// OC0 output: Disconnected

ASSR=0x00;

TCCR0=0x04;

TCNT0=0x00;

OCR0=0xFA;

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CodevisionCodevision Program for Quiz1Program for Quiz1 22CodevisionCodevision Program for Quiz1Program for Quiz1--22// 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: 250.000 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 0 00

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Example 2Example 2Example 2Example 2Set 16bit Timer for driving IC-servo motorSet 16bit Timer for driving IC servo motor

IC-servo motor specp◦ Pulse duration : 0.9ms~2.1ms. ◦ Pulse refreshes over 50Hz(20ms)

Answer◦ Clock : 2000kHz◦ Clock : 2000kHz◦ Duty : 65535/2000k = 32ms◦ 0.9ms : 1800tic◦ 2.1ms : 4200tic◦ Resolution : 4200-1800 =2400

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CodevisionCodevision Program for Quiz2Program for Quiz2CodevisionCodevision Program for Quiz2Program for Quiz2// Timer/Counter 1 initialization

// Clock source: System Clock

// Clock value: 2000.000 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;

}

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Analog to Digital ConverterAnalog to Digital ConverterAnalog to Digital ConverterAnalog to Digital Converter

8 channels8 channels

10-bit / 8-bit resolution

0 ~ 5v Input Voltage Range

Interrupt on ADC Conversion CompleteInterrupt on ADC Conversion Complete

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Code Vision SettingCode Vision SettingCode Vision SettingCode Vision Setting

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CodevisionCodevision ProgramProgramCodevisionCodevision ProgramProgram#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: 125.000 kHz

// ADC Voltage Reference: AREF pin

ADMUX=ADC_VREF_TYPE;

ADCSRA=0x87;

while (1)

{

dunsigned int a;

a= read_adc(1);

};

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USARTUSARTUSARTUSART2 channels2 channelsFull duplex operationAsynchronous & Synchronous operation5 6 7 8 or 9 data bits and 1 or 2 stop bits5,6,7,8 or 9 data bits and 1 or 2 stop bitsOdd or Even parity bit 2400~115200 Baud rate

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USART USART CodevisionCodevision SettingSettingUSART USART CodevisionCodevision SettingSetting

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USART USART CodevisionCodevision ProgramProgramUSART USART CodevisionCodevision ProgramProgramchar 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")

}

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USART USART CodevisionCodevision ProgramProgramUSART USART CodevisionCodevision ProgramProgram// 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;

h l ( ){While(1){

c=getchar();

putchar(c);

}

}

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Serial Packet for multiSerial Packet for multi data data Serial Packet for multiSerial Packet for multi--data data Add start and end byteAdd start and end byteAdd check sum byte

Example Example ◦ Transmit data1~3◦ Start byte : ‘s’, ‘t’◦ End byte : ‘e’, ‘d’y

s t data1 data2 data3 data1+data2+data3 e d

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THANK YOUTHANK YOU

2007 TCL Summer AVR Application Study 35