Atmel ATmega324PA User's Guide

Pololu Orangutan SVP User'sGuide1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TrimpotThe Orangutan SVP comes with a 10 kilo-ohm user trimmer potentiometer, located between the USB connectorand the LCD connector. The trimpot is c

jumper attached to just the middle pin of each of the two servo power selection banks. In this default orientation,the jumper supplies no power to the

LEDsOrangutan SVP LEDs.The Orangutan SVP comes with 9 LEDs:• A blue power LED is located next to the power button.• There are four motor indicator LED

3.0 V. If this happens to you, check your power connections and battery voltage, and make sure you are notdrawing too much power from the board.Pololu

5. Getting Started5.a. Installing Windows DriversIf you use Windows XP, you will need to have either Service Pack 3 [http://www.microsoft.com/download

Windows XP users: After the INF file is installed, follow steps 5-9 for each new Orangutan SVP you connect toyour computer.5. Connect the device to yo

8. Windows XP will warn you again that the driver has not been tested by Microsoft and recommend thatyou stop the installation. Click “Continue Anyway

If you use Windows XP and experience problems installing the drivers, the cause of your problems might bea bug in older versions of Microsoft’s usb-to

Windows XP device manager showing the Pololu OrangutanSVP.Windows Vista device manager showing the Pololu Orangutan SVP.Some software will not allow c

board) to proceed to the main menu. Press the Top Button (marked PC5) or the Bottom Button (marked PC2) toscroll forward or backward through the menu,

1. OverviewThe Orangutan SVP robotcontroller [http://www.pololu.com/catalog/product/1325] is acomplete control solution for small and medium-sizedrobo

As a first step, we recommend you try to program your Orangutan with a simple program that blinks the red userLED on pin PD1. Download the file below

As a second step, we recommend you install the Pololu AVR C/C++ Library [http://www.pololu.com/docs/0J20],which provides functions for interacting wit

5.d. Programming in Linux or Windows using AVRDUDEAVRDUDE [http://savannah.nongnu.org/projects/avrdude/] is a free program for Windows and Linux that

Hardware included with the Orangutan SVP partial kit.• Orangutan SVP-324: BlinkLED_m324.zip [http://www.pololu.com/file/download/BlinkLED_m324.zip?fil

• One 3×7 female header block• Three 2-pin 3.5mm terminal blocks• Five blue shorting blocks [http://www.pololu.com/catalog/product/968]• Two 2×3 femal

2. Power inputThere are two parallel connection points provided for the 6–13.5V power input. You can install a 3.5mm terminalblock on the large holes

12. Auxiliary processor I/O blockThis block contains the auxiliary processor’s A, B, C, D/RX, and TX lines, as well as several connections to GNDand V

6. AVR Pin Assignment Table Sorted by FunctionFunction ATmega324/1284 Pinfree analog input and digital I/O (x8) PA0 – PA7free digital I/O (x8) PB3, PC

7. AVR Pin Assignment Table Sorted by PinPololu Orangutan SVP User's Guide © 2001–2010 Pololu Corporation7. AVR Pin Assignment Table Sorted by Pi

Port Pin Orangutan Function Notes/Alternate FunctionsPA0 analog input and digital I/O ADC input channel 0 (ADC0)PA1 analog input and digital I/O ADC i

◦ 17 free I/O lines on the main MCU, of which 8 can be analog inputs◦ 4 input lines on the auxiliary processor, which can be either 4 analog inputs or

PD0 digital I/O USART0 input pin (RXD0)PD1 digital I/Ored user LED(low turns LED on; connectioncan be cut and replaced with jumper)USART0 output pin (

8. Using the USB Communication PortThe Orangutan SVP’s USB Connection provides a virtual serial port called the Pololu Orangutan SVP USBCommunication

the second port is the USB Communication Port. In Linux, the port name depends on how many other devices areusing the USB CDC ACM driver to create vir

// Disconnect from the port so that other programs can use it.port.Close();Communication on the AVR sideWriting programs for the USB Communications po

9. Using the TTL Serial PortThe Orangutan SVP’s USB Connection provides a serial port called the Pololu Orangutan SVP TTL SerialPort which allows two-

PuTTY is a free Windows terminal program that can send and receive bytes on aserial port.If you need to send and receive non-ASCII bytes, you can use

10. Motor Driver Truth TableInput Orangutan SVP outputPD7, PD6 PC7, PC6 M1A, M2A M1B, M2B motor effect LED onH H L H “forward”* greenH L H L “reverse”

11. USB PowerWhen connected to a computer, the USB connection provides a 5 V power supply. If an external power supply ispresent, the unit will run of

12. Upgrading FirmwareThe firmware (program) that runs on the Orangutan SVP’s auxiliary processor can be upgraded with bug fixes ornew features.Versio

4. The bootloader line is shown in the picture below. Short this line to ground by connecting one end ofa wire to ground and touching the other end to

Under Linux, the three virtual COM ports created by the SVP should appear as devices with names like /dev/ttyACM0, /dev/ttyACM1, and /dev/ttyACM2 (the

12. You can now unplug your SVP and plug it back in to the computer and use the new firmware.If you run into problems during a firmware upgrade, pleas

13. Related ResourcesThe following list of resources might come in handy:• WinAVR [http://winavr.sourceforge.net/]: free, open source C/C++ compiler f

2. Contacting PololuYou can check the Orangutan SVP-324 robot controller page [http://www.pololu.com/catalog/product/1325] orOrangutan SVP-1284 robot

3. Schematic DiagramsSchematic diagrams of the Orangutan SVP are available here: Orangutan SVP schematicdiagram [http://www.pololu.com/file/download/o

4. Module Pinout and ComponentsThe Orangutan SVP contains a programmable AVR ATmega324PA or ATmega1284P microcontroller connectedto two motor drivers

Orangutan SVP-324 with dimensions.Power & Motor ConnectionsThe power and motor connections are in the lower-right corner of the unit. The Oranguta

For each motor, the Orangutan SVP has a current-sensing circuit that produces an output voltage proportional tothe current the motors are using (850 m