AVR Architecture Meeting

List of resources needed from AVR

Sonar
  • Clock (faster is better, 2-3 times every 147us -> 50us clock or 200 kHz)
  • 2 input pins with 2 interrupts each every 49ms
Stepper
  • 3 output pins
    • One output pin must be triggered each time you want to step
    • One changes when needs to change direction
    • One for half-step vs full-step
CliffSensors
  • 1 GPIO pin per cliffsensor (3 total)
  • Probably should be on separate interrupts
BOM
  • Receiver
    • 380us high pulse, and then low for 1ms total(high) or 2ms total(low)
    • Interrupt pin and general timer (same as sonar)
  • Transmitter
    • Sent 38kHz wave -> needs a timer
    • Dedicated 38kHz timer
Gyroscope
  • 2 Analog pins (maybe switching to I2C)
Wireless
  • Built into AVR
    • Probably shouldnt need resources
Orbs/Headlights Accessory Expantion Board
  • 4 GPIO pins

AVR Resources

Interrupts
  • INT7:0 and PCINT8:0 (maybe just use INT)
  • Good to use interrupts for data gathering
Timers
  • Needs two (Sonar & BOM)
Pins
  • Good on Pins
Memory
  • 128k of program memory
  • 16kb of RAM

Important Stuff To DO

  • Demo ROSSERIAL
  • Changes that need to be made to Scoutfly
    • New motor driver will work Julian
    • Power board changes
  • Serial Gyro
    • Sonar can go on analog pins, and offload gyro to ARM
    • new gyro, price difference, and why Julian
  • Email BK if he is ok looking at scoutfly over break