Instructor Info

Daniel Kohn
Email: dekohn@memphis.edu
Office ET218
Phone: 678-4515
Office Hours

Course Info

Assignment Submission

Reference Text

The AVR Microcontroller and Embedded Systems Using Assembly and C: Using Arduino Uno and Atmel Studio by Sarmad Naimi and Muhammad Ali Mazidi 2nd Ed

Author's Website http://nicerland.com/

Required Software

MicroChip Studio (Formerly Atmel Studio 7) - note: "Download Microchip Stuido button does not seem to work, scroll down to "Downloads and Documents"
Arduino IDE (download Legacy IDE 1.8.x for avrdude utility)
Putty

Project Description:

This project will use the following equipment to create a demonstration mobile robot:

Robot Construction

Processing

Sensors

Power System

Li-ion 11.1v 2600mAh Battery Packs (x?)
DROK DC-DC Buck Converter Regulator 4-38V to 1.25-36V 5V/12V Power Supply Module 5A, LED Voltmeter Display
Tazer 15T Motor Controller (new link to instructions)
- From:Blog
  to be honest the delay going from forward to reverse on this esc is not worth the hassle of owning it just my opinion
RoboClaw 2x30A motor controller
DC 4-40v to DC 1.25-36v 8A 100W Buck Converter

This work is a continuation of work done in 2007 and in 2010.

Things to Investigate

ROS

Considering only using PI (removing Mega)

Rigol Digital Oscilloscope - 2000 Series
• (note: to use USB Stick, it MUST be formatted as FAT32)

Arduino Ethernet Shield 2
WIZ5500 IC
Real Time Clock (BOB 12708)
16x2 SerLCD
ADXL345 Tripple Axis Accelerometer
Transceiver (nRF24L01+)
Wifi Module (ESP8266)
Bi-Directional Logic Level Converter

Info needed for Labs

Determine Com Port

With Arduino plugged in to computer's USB port
Win 10 - Search for "Powershell" and open
Type - "Get-WMIObject Win32_SerialPort" (no quotes)
check results for Arduino Uno (Com __ )

Atmel Studio

Setup Strings:

C:\Program Files (x86)\Arduino\hardware\tools\avr\bin\avrdude.exe

-v -C "C:\Program Files (x86)\Arduino\hardware\tools\avr\etc\avrdude.conf" -p atmega328p -c arduino -P COM7 -b 115200 -U flash:w:$(TargetDir)$(TargetName).hex:i

Atmel Studio add ins:

Microchip Gallery

Go to above link then search for "Microchip Gallery". Click on "Download" on left side of screen and run the downloaded file (if Atmel Studio was opened when you did this, close and reopen Atmel Studio). This should now allow Atmel Studio access to plugins (TOOLS | Extensions and Updates). It is suggested in go ahead and install "Terminal for Atmel Studio"

To get printf to work with floating point values:

Project | nameofproject Properties | Toolchain : AVR/GNU Linker | General | Check "Use vprintf library(-Wl,-u,vfprintf)"
Project | nameofproject Properties | Toolchain : AVR/GNU Linker | Miscellaneous | Other Linker Flags put into textbox | "-lprintf_flt" (leave off quotes).

For ATmega 2560

ATmega2560 Datasheet
ATmega2560 / Mega Pinout

2nd setup string:

-v -C "C:\Program Files (x86)\Arduino\hardware\tools\avr\etc\avrdude.conf" -p atmega2560 -c wiring -P COM3 -b 115200 -U flash:w:$(TargetDir)$(TargetName).hex:i

if you get an error that says:

avrdude.exe: Device signature = 0x1e9801 (probably m2560)
avrdude.exe: NOTE: "flash" memory has been specified, an erase cycle will be performed
To disable this feature, specify the -D option.
avrdude.exe: erasing chip
avrdude.exe: stk500v2_command(): command failed

you need to add a -D to the 2nd setup string like this:

-v -C "C:\Program Files (x86)\Arduino\hardware\tools\avr\etc\avrdude.conf" -p atmega2560 -c wiring -P COM9 -b 115200 -D -U flash:w:$(TargetDir)$(TargetName).hex:i

Using Multiple Usarts:

When you start the project, pick the number of USARTS you need. In Each USART, change the mode to Async IRQ Mode and make sure you enable Printf support. You can adjust the RX and TX Buffer size to meet your needs.

at the start of you code (above atmel_start_init();) you will need to add the following line:

FILE USART_x_stream = FDEV_SETUP_STREAM(USART_x_write, USART_x_read, _FDEV_SETUP_RW);

where x is the USART number (you will need to add this line for EACH USART you wish to use 0-3).

You will also need to do an:

ENABLE_INTERRUPTS();

right after the atmel_start_init() line (to turn on the USART Interrupts).

to get characters:

fgetc(&USART_x_stream);

to print stuff, put it in an array (buffer in the example below) with sprintf then send to usart with fprintf:

sprintf(buffer,"Hello World\n\r");
fprintf(&USART_x_stream,"%s",buffer);