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Digilent Cerebot II Board User Manual

Page 9

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Cerebot II Reference Manual

Digilent, Inc.

www.digilentinc.com

page 9 of 10

Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.

Pin

Description

Cerebot II Pmod Header Pins to
ATmega64L Ports / Bit

JD

SPI interface
The SPI interface on JD is used for synchronous serial
communication of host processor and peripherals or for a
connection of two processors. Master or slave modes are
selected as part of the software.

Serial port communications and interrupts
Asynchronous serial port, UART1, as well as the Atmel TWI
interface can be accessed on JD. These pins can also be
used as external interrupt sources.

Pin Function

Port / Bit

1

SS

PB 0

2

MOSI

PB 2

3

MISO

PB 3

4

SCK

PB 1

5

GND

6

VCC

7

SCL/ INT0

PD 0

8

SDA/ INT1

PD 1

9

RXD1/ INT2

PD 2

10

TXD1/ INT3

PD 3

11

GND

12

VCC

JE

H-bridge connection with input capture
This port can be used to provide two pulse width modulated
outputs to run two motors, or it can be used to run a single
motor with input sensing for a shaft encoder or other sensor.
The PmodHB3 or PmodHB5 can be used for this application.

1

T1

PD 6

2

OC1A

PB 5

3

ICP1

PD 4

4

OC1B

PB 6

5

GND

6

VCC

JF

H-bridge connection, interrupts, and on-board LEDs
Use this port to run two motors, like JE, or a motor with input
sensing for a shaft encoder or other sensor. All of the pins on
this header give access to interrupt inputs, providing flexibility
for application development. JF can be used as a motor
controller or interrupt source. The onboard LEDs share pins
with this header and can display information.

1

T3/ INT6

PE 6

2

OC3B/ INT4

PE 4

3

ICP3/ INT7

PE 7

4

OC3C/ INT5

PE 5

5

GND

6

VCC

JG

H-bridge connection
This port can be used to provide two pulse width modulated
outputs to run two motors, or it can be used to run a single
motor with input sensing for a shaft encoder or other sensor.
The PmodHB3 or PmodHB5 can be used for this application.

1

T2

PD 7

2

OC0

PB 4

3

XCK1

PD 5

4

OC2/ OC1C

PB 7

5

GND

6

VCC

JH

Analog input
Inputs to the analog to digital converter of the ATmega64L.
ADC0 and ADC1 are connected to the Cerebot II’s voltage
monitoring circuits. ADC0 is the input for monitoring VU board
power and ADC1 is connected to VS for monitoring the
independent servo power.

The default fuse setting for the Cerebot II is to disable the
JTAG input and provide analog inputs. The ATmega64L fuse
settings have to be changed to enable the JTAG interface to
use JH as a JTAG device input (e.g., to use the Atmel
JTAGICE mkII).

The pins on JH are shared with the servo connectors S1-S8.

1

ADC0

PF 0

2

ADC1

PF 1

3

ADC2

PF 2

4

ADC3

PF 3

5

GND

6

VCC

7

ADC5/ TMS

PF 5

8

ADC7/ TDI

PF 7

9

ADC6/ TDO

PF 6

10

ADC4/ TCK

PF 4

11

GND

12

VCC