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

• 3 output pins for each headlight (6 total)
  • See http://www.roboticsclub.org/redmine/projects/colony/repository/entry/trunk/code/projects/libdragonfly/lights.c

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