Digilent Cerebot Plus Board User Manual
Page 11
Digilent Cerebot Plus Reference Manual
Digilent, Inc.
www.digilentinc.com
page 11 of 13
Copyright Digilent, Inc. All rights reserved. Other product and company names mentioned may be trademarks of their respective owners.
Pin
Description *All Pmod headers can be used as general
purpose IOs or for the following specific purposes.
Cerebot Plus Pmod header pins to
Atmega64L ports / bit
JH
H-bridge connection with input capture
This port can be used to provide multiple pulse width
modulated outputs to run motors. It can be used with
PmodHB3 or PmodHB5 modules to run up to two motors with
feedback encoding, or to run up to four motors without
feedback encoding.
Serial port communications
Pins 3 & 4 provide connection to UART2. A PmodRS232™
can be used on this connector for an RS232 serial interface.
1
XCK2
PH2
2
OC4A
PH3
3
RXD2
PH0
4
TXD2
PH1
5
GND
6
VCC
7
T4
PH7
8
OC4B
PH4
9
OC2B
PH6
10
OC4C
PH5
11
GND
12
VCC
JJ
Analog input
Inputs to the analog to digital converter of the Atmega2560.
ADC0 and ADC1 are connected to the Cerebot Plus board’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.
Analog or JTAG input
The default fuse setting for the Cerebot Plus is to disable the
JTAG input and provide analog inputs. The Atmega2560 fuse
settings have to be changed to enable the JTAG interface to
use JJ as a JTAG device input (e.g., to use the Atmel
JTAGICE mkII).
Servo connectors
The pins on JJ 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
JK
Analog input
Inputs to the analog to digital converter of the Atmega2560.
Pin change interrupt
All of the pins on this connector can be used as interrupt
sources for pin change interrupts.
1
ADC8
PK 0
2
ADC9
PK 1
3
ADC10
PK 2
4
ADC11
PK 3
5
GND
6
VCC
7
ADC12
PK 4
8
ADC13
PK 5
9
ADC14
PK 6
10
ADC15
PK 7
11
GND
12
VCC
JL
Serial port communications
Pins 3 & 4 provide connection to UART3. A PmodRS232™
can be used on this connector for an RS232 serial interface.
Pin change interrupt
All of the pins on this connector, except pin 10, can be used
as interrupt sources for pin change interrupts.
1
XCK3
PJ 2
2
PCINT12
PJ 3
3
RXD3
PJ 0
4
TXD3
PJ 1
5
GND
6
VCC
7
PCINT13
PJ 4
8
PCINT14
PJ 5
9
PCINT15
PJ 6
10
PJ7
PJ 7
11
GND
12
VCC