Thinklabs UNIBOARD V1.1 User Manual

Open platform for Embedded and Real Time Systems Programming

TRI Technosolutions Pvt. Ltd.

T

HINK

LABS

UNI

B

OARD V

Licensed by:

1.1 U

SER GUIDE

4/7/2009

|

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Table of Contents

Introduction ........................................................................................................................................................ 5

Package Contents ................................................................................................................................................. 6

Testing the Board ................................................................................................................................................. 7

Testing the Board on Windows OS ............................................................................................................................... 7

Testing the Board on Linux OS .................................................................................................................................... 11

What you need for programming the Board ........................................................................................................ 12

Hardware requirements .............................................................................................................................................. 12

Software requirements ............................................................................................................................................... 12

Safety and precautions to be taken ............................................................................................................................ 12

Pre-requisites .............................................................................................................................................................. 12

Hardware Connections ....................................................................................................................................... 13

Features ............................................................................................................................................................ 14

Board Features ............................................................................................................................................................ 14

Controller Features ..................................................................................................................................................... 15

Setting up the Board configuration ..................................................................................................................... 16

Board Description ....................................................................................................................................................... 16

Atmega128 controller ............................................................................................................................................. 16

Atmega8 controller with the firmware for programming through USB ................................................................. 16

I2C and RTC (DS1307) with Backup Battery ............................................................................................................ 16

Analog sensors (Joystick and LDR) .......................................................................................................................... 16

Buzzer ...................................................................................................................................................................... 16

Onboard Motor Driver ............................................................................................................................................ 16

External power ........................................................................................................................................................ 17

Test LEDs ................................................................................................................................................................. 17

Two UART's ............................................................................................................................................................. 17

LCD .......................................................................................................................................................................... 17

Push Buttons ........................................................................................................................................................... 17

Selection Switches................................................................................................................................................... 17

General Purpose PORTS .......................................................................................................................................... 18

Jumper Settings ........................................................................................................................................................... 19

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Software Installations ........................................................................................................................................ 22

Software Installations for Linux OS ............................................................................................................................. 22

Text Editor (Gedit Editor) ........................................................................................................................................ 22

Installing Gedit Editor: ............................................................................................................................................ 22

Gedit Editor Plug-in (Embedded Terminal): ............................................................................................................ 24

Compiler (avr-gcc) ................................................................................................................................................... 29

avr-libc (Standard C library for Atmel AVR development) : .................................................................................... 31

avrdude (software for programming Atmel AVR microcontrollers): ...................................................................... 33

Serial port terminal (Gtkterm) ................................................................................................................................ 34

Gtkterm Configurations for setting the Baud rate, Parity, Stop bits ...................................................................... 37

Software Installations for Windows OS ...................................................................................................................... 39

WinAVR (Includes avr-gcc, avr-binutils, avrdude) ................................................................................................... 39

Installing USB drivers for uNiBoard ......................................................................................................................... 44

Programming the Board ..................................................................................................................................... 48

Getting Started on Linux ............................................................................................................................................. 48

Getting Started on Windows ...................................................................................................................................... 62

Text Editor (programmer’s Notepad) ..................................................................................................................... 63

Compile the code and program the board on Windows (Command Prompt) ....................................................... 67

Using hyper terminal of windows ........................................................................................................................... 75

Getting Started with RTOS (uC/OS-II) on Windows OS ......................................................................................... 79

uC/OS-II Hardware and Software Architecture .......................................................................................................... 79

Code, Compile and program the RTOS (uC/OS-II) programs on Linux OS .................................................................. 80

Code, Compile and program the RTOS (uC/OS-II) programs on Windows OS ............................................................ 89

Troubleshooting .............................................................................................................................................. 112

Make utility ............................................................................................................................................................... 112

LEDs ........................................................................................................................................................................... 112

UART.......................................................................................................................................................................... 112

LCD ............................................................................................................................................................................ 112

Joystick ...................................................................................................................................................................... 112

LDR ............................................................................................................................................................................ 113

External Interrupts .................................................................................................................................................... 113

RTC ............................................................................................................................................................................ 113

SPI .............................................................................................................................................................................. 113

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Motor drivers ............................................................................................................................................................ 113

What you can do with the uNiBoard ................................................................................................................. 114

Add-ons ........................................................................................................................................................... 118

SD/MMC card Interface ........................................................................................................................................ 118

Ethernet Interface ................................................................................................................................................. 118

uNiBoard v1.1 Schematic ................................................................................................................................. 119

Controller section: ATmega128 pin connections ...................................................................................................... 119

Buzzer section ........................................................................................................................................................... 120

Joystick and connectors section ............................................................................................................................... 120

LCD section ................................................................................................................................................................ 121

LDR section ................................................................................................................................................................ 121

LEDs section .............................................................................................................................................................. 121

Motor Driver section ................................................................................................................................................. 122

Power supply section ................................................................................................................................................ 122

RTC section ................................................................................................................................................................ 122

Sensor port section ................................................................................................................................................... 123

Switches section ........................................................................................................................................................ 123

UART section ............................................................................................................................................................. 123

USB programmer section (Courtesy: http://www.fischl.de/usbasp/) ...................................................................... 124

Licensing terms ................................................................................................................................................ 125

Bill of Materials (BOM): .................................................................................................................................... 126

Appendix A – References .................................................................................................................................. 128

Appendix B - Services and Support ................................................................................................................... 129

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Introduction

The uNiBoard version 1.1 is an ideal open source development platform for Embedded and Real Time Systems Programming. Powered by a RISC machine (ATMega128) that provides a throughput

of 16 MIPS and up to 128KB of internal storage (flash), the board would be suitable for any sort of embedded application development.

On-board peripherals like Joystick along with the communication ports (RS232) and the Gtkterm driver (hyper-terminal for Windows) make the board apt for basic game development in an Embedded (non-OS) as well as OS based environment. RT Kernels with small footprint (uC/OS-II, FreeRTOS, nut OS) can be ported on the board to gain hands-on experience of Real time application design.

The board is powered by the USB port. The board is also programmable through USB port thereby making it complete stand-alone lab equipment needing nothing apart from a basic PC/laptop to get started with the development process. The open interface (open LED interface, open ports) extend the platform’s role for prototyping applications like external device/sensor interfacing. The controller by itself supports protocols like SPI, I2C (on-board I2C based RTC), UART (dual programmable UART) which can be used for multi-board communication.

Additionally, the board also features an on-board motor driver which allows to control up to two DC motors bidirectionally. External supply, if required for the motors can be provided with appropriate hardware configuration settings.

The board along with its content-rich user manual is a perfect companion to have for hobbyists/aspirants seeking a career in Embedded software design, since it can accommodate preliminary applications like port control or sensor data processing built on Embedded C to complex real time applications built on RTOS like DAS (Data Acquisition Systems), embedded webserver, FAT FS for embedded systems and more.

We plan to adhere to the Creative Commons license (Refer licensing terms), which has the philosophy of “Share, Remix, Reuse - Legally”. It means that anyone is allowed to produce copies of the board, to redesign it, or even to sell boards that copy the design. You don’t need to pay a license fee to the ThinkLABS team or even ask permission. However, if you republish the reference design, you have to credit the original group. And if you tweak or change the board, your new design must use the same or a similar Creative Commons license to ensure that new versions of the board will be equally free and open.

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Package Contents

The uNiBoard development platform with the peripherals listed below

• uNiBoard development board – 1 unit

• 16x2 LCD – 1 unit

• Serial cable (DB9) – 1 unit

• USB cable – 1 unit

• FRC connector cables – 2 units

• CD consisting of uNiBoard user manual (based on Linux (Ubuntu) /Windows), essential software

packages and sample codes (RTOS/non-OS applications) – 1 unit

• Pouch for storage – 1 unit

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Testing the Board

This section lists the procedure to test the board. To enable you to quickly test the Board, it comes with a test program loaded. So, make sure you first test the board before any programming.

If you have programmed the controller thereby erasing the test program from the flash or in case you find that the sample program has not been loaded (which would be a rare case) then you need to load the test program onto the board (refer to the section Programming the Board). The test program is provided on CD uNiBoard Contents directory (inside sample codes). This code tests the board’s peripherals (LCD, UART, LED’s, Buzzer, and Joystick).

Testing the Board on Windows OS

Follow the steps to confirm if the uNiBoard is OK.

STEP 1: Connect the LCD on the Board (refer to section Hardware connections).

STEP 2: Use FRC cable to connect open LED port and Port C.

STEP 3: Using the serial cable connect uNiBoard to the PC.

STEP 4: If you are using Windows OS then you need install the USB drivers for the uNiBoard once (refer to

the section Software Installation >> Software Installation for Windows OS >> Installing the USB drivers for uNiBoard).

STEP 5: Using the USB cable connect the uNiBoard to the PC.

STEP 6: Turn ON the Board once the drivers are installed correctly.

STEP 7: Open the Serial terminal and set the baud rate to 115200, parity to none, and stop bits to 1. So click

on Start >> programs >> Programs >> Accessories >> Communications >> hyper terminal as shown below.

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STEP 8: Select File menu >> New Connection then Enter Name for connection and click OK.

STEP 9: Select the COM Port where you have connected the serial cable.

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STEP 10: Select the settings as given below for this test program.

STEP 11: Select Apply and then OK.

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STEP 12: Turn ON the Board.

STEP 13: The test program that we have loaded demonstrates SNAKE game on any serial terminal which is

VT102 compatible. If everything is correctly installed you should be able to see a game of SNAKE (modified) as well as play using the Joystick.

While the program is running you will also be able to see the SCORE being displayed on the LCD along with the version of the uNiBoard that you are currently using. While the SNAKE eats up food you will be able to hear the buzzer. Every time a new food is generated you will see the LEDs glowing thereby utilizing all uNiBoard peripherals.

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Testing the Board on Linux OS

Follow the steps to check whether or not the uNiBoard is working properly on Linux OS

STEP 1: Step 1 to Step 3 is same as given in the Windows OS procedure.

STEP 2: Turn ON the Board. If you are wondering how to install the USB drivers, you don’t need to do that at

all since Linux kernel has those drivers inbuilt.

STEP 3: Open the Gtkterm (refer to the sub-section Installing Software for Linux OS).

STEP 4: Configure the Gtkterm to baud rate/speed to 115200, parity to none, and stop bits to 1(refer to the

sub-section Gtkterm Configurations for setting the Baud rate, Parity, Stop bits).

STEP 5: Turn ON the Board.

STEP 6: Out here as well you should be able to do things (like playing SNAKE on Gtkterm) that have been

listed in STEP 13.

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What you need for programming the Board

Hardware requirements

• uNiBoard version 1.1 along with USB cable

• Serial cable (optional)

• FRC Cable (optional)

Software requirements

• Text Editor (Gedit on Linux/ Programmers Notepad on Windows)

• Tool chain (avr-gcc, avr-binutils, avrdude): Installation procedure is explained in the upcoming

sections

• Serial terminal (Gtkterm on Linux/ hyper terminal on windows)

• Driver for usbasp (Windows requires explicit installation)

Safety and precautions to be taken

• Do not use the external power supply more than 15V.

• Board and SMD switches should be handled with care.

• Fuse settings of the target (micro-controller) should be modified only with appropriate

knowledge, since locking the fuse section might render the board useless.

• Do not program the Board while you are using SPI lines for communication which might also

render the board useless.

Pre-requisites

• Before you start, you are expected to have some knowledge of AVR microcontrollers and its software tools up to a preliminary level. We have not discussed the AVR architecture (Datasheet is the best help on the same. it has been included in the CD contents)

• The board guide does not give any conceptual knowledge with regards to RTOS. For best results, you are expected to have a reference material on the RTOS that you are going to use on the board. In case the target RTOS is uC/OS-II, you need not look beyond MicroC/OS-II, The Real Time Kernel by Mr. Jean Labrosse.

• All the samples examples based on RTOS including the SNAKE application that you must have just seen while testing the board utilize the same RTOS kernel (i.e.: uC/OS-II)

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Hardware Connections

The uNiBoard version 1.1 connects to the PC using USB port. As shown in the figure 1.1 on the board there is a serial port and USB port connectors. The serial port is used for debugging purpose while USB port is used for power and burning the hex files into ATmega128 microcontroller.

The USB cable (for power/programming purposes) and serial cable can be interfaced with the PC. The serial cable is optional as we are not using it for programming the hex file into the Atmega128 chip. For any UART related activities having the serial cable is a must.

Progr

amming

Jumper

Programming

connector for USB programmer

LDR

Jumper

8 Sensor

inputs

Program

Enable/UART0 Selection

USB power

switch

Test

LEDs PORT

Ext Power

Connector

UART 0

USB

Port

Serial Port

(UART 1)

Motor 1

Motor 2

Joystick/Ext. ADC

switch

Reset switch

ADC

PORT

JTAG

PORT

PORTC

USB

programmer

FRC

Cable

LDR

RTC

RTC Backup

battery

LCD

connector

Joystick

PORTG

connector

8 LED’s

SW4, SW3,

SW2, SW1

switch i/p’s

4 SPI

Lines

Buzzer

beneath

Controller

8 GND

lines

8 VCC

lines

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Features

Board Features

• ATmega128 controller with external crystal of 16MHZ

• usbasp: ATmega8 based USB programmer for ATmega128 (open source firmware running on

hardware licensed under GNU GPLv2 from http://www.fischl.de/usbasp)

• I2C communication lines

• SPI communication lines

• 16x2 alphanumeric LCD with contrast adjustment

• RTC with Backup Battery

• Analog Joystick with centre click

• LDR sensor

• Buzzer (beneath the processor board)

• Onboard Motor Driver (L293D)

• LEDs for USB programmer ready indicator, Programming status indicator, and Power ON

indicator

• Test LEDs (open for interface with any PORT)

• Open interface Ports such as PORTF/ADC, PORTC

• JTAG interface(External JTAG hardware required)

• USB Port for programming the Board

• Dual programmable UARTs

• Push Buttons for External Interrupts, Reset

• Configuration Switches for USB Power/External power, External ADC /Joystick and Program

Enable/UART0

• Modular design to permit replacement of processor board

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Controller Features

The features of Atmega128 are as follows:

• Advanced RISC Architecture

• 128K Bytes of In-System Self-programmable Flash program memory

• 4K Bytes EEPROM

• 4K Bytes Internal SRAM

• JTAG (IEEE std. 1149.1 Compliant) Interface

• Two 8-bit Timer/Counters with Separate pre-scaler and Compare Modes

• Two Expanded 16-bit Timer/Counters with Separate pre-scaler, Compare Mode and

• Capture Mode

• Real Time Counter with Separate Oscillator

• Two 8-bit PWM Channels

• 6 PWM Channels with Programmable Resolution from 2 to 16 Bits

• 8-channel, 10-bit ADC

• Byte-oriented Two-wire Serial Interface

• Dual Programmable Serial USARTs

• Master/Slave SPI Serial Interface

• Programmable Watchdog Timer with On-chip Oscillator

• Power-on Reset and Programmable Brown-out Detection

• External and Internal Interrupt Sources

• Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby, and Extended

Standby

• Software Selectable Clock Frequency (using Fuse bits)

• 53 Programmable I/O Lines

• 4.5V - 5.5V for Atmega128 Operating Voltages

• 64-lead TQFP

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Setting up the Board configuration

Board Description

Atmega128 controller

The ATmega128 is a low-power 8-bit microcontroller based on the AVR enhanced RISC architecture. The Atmel ATmega128 is a powerful microcontroller that provides a highly flexible and cost effective solution to many embedded control applications.

Atmega8 controller with the firmware for programming through USB

USBasp is a USB in-circuit programmer for Atmel AVR controllers. It simply consists of an ATMega8 and a couple of passive components. The programmer uses a firmware (USB driver) to program Atmega128 microcontroller. For more information on building USBasp refer http://www.fischl.de/usbasp. It is an open source firmware along with hardware licensed under GNU GPLv2.

I2C and RTC (DS1307) with Backup Battery

The DS1307 serial real-time clock (RTC) is a low-power, full binary-coded decimal (BCD) clock/calendar plus 56 bytes of NV SRAM. Address and data are transferred serially through an I2C, bidirectional bus. The clock/calendar provides seconds, minutes, hours, day, date, month, and year information (Compensation Valid up to 2100). No special hardware configuration is required as it is mounted on our board and internally connected to the processors pins.

Analog sensors (Joystick and LDR)

The Joystick (Analog joystick used in PS2 consoles) is connected to the ADC, X axis on channel 1 (PF1) and Y axis on channel 2 (PF2) of the Atmega128 microcontroller. The LDR sensor is connected to channel 0(PF0) of the Atmega128 microcontroller.

Buzzer

The Buzzer is connected to PA3 of the Atmega128 microcontroller, and lies beneath the processor board.

Onboard Motor Driver

The Motor driver chip (L293D) is used to drive the motors which can be connected to the PTR connectors as shown in the above figure. Through software you need to configure as follows:

PB6 and PB5 (MOTOR1)

PE2 and PE3 (MOTOR2)

PB4 (CHIP ENABLE)

There are motors which might need higher than 5V (up to 12V) operating voltage. In such cases an external supply can be given to the board and the USB power switch can be toggled to make the external supply available instead of a USB powered connection.

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External power

The external power connector in the above figure can also be used for connecting rechargeable batteries and making the board operate on battery power in case of robotic or other such mobile applications.

Test LEDs

Test LED's are pulled-up so to glow the LEDs we need to make the particular port pin Low. You can connect the General Purpose PORT to test LED Port using FRC Cable.

Two UART's

UART1 is used to connect PC through the MAX232 voltage converter chip since pc uses RS-232 standard for serial port. UART1 can be used for debugging the code or for any sort of interaction with Gtkterm.

UART0 is not connected to MAX232 as it is left open for communication between two Boards.

LCD

LCD for uNiBoard is using 4 data lines, 2 control lines and WR of LCD is connected to GND.

DATA LINES (PA4, PA5, PA6, PA7)

CONTROL LINES (PA0 for RS, PA2 for LCD EN)

Push Buttons

External Interrupts

SW3 (INT6)

SW4 (INT7)

General Purpose switch

SW1 (PD6) Active Low

SW2 (PD7) Active Low

Reset SW

Selection Switches

USB Power (Pressed) / External power (Depressed)

Joystick (Pressed) / External ADC (Depressed)

Program Enable (Pressed) / UART0 (Depressed)

The most important part of board configuration is the configuration switches. More often than not, programming errors or abnormal program response and execution are due to faulty configuration of the switches. So, while programming, or using ADC, or external power supply or battery or while using UART0 make sure you have first set the configuration switches in the correct position before concluding that your program is not working or the board is faulty.

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USB Power (Pressed) / External power (Depressed)

Refer to the uNiBoard figure where the components have been labeled to understand where these switches are physically placed on the board. While you have connected the uNiBoard cable for programming purposes or for powering the board this switch should be in the pressed position.

While connecting any external power supply or battery, this switch should be in depressed position. This makes the 7805 voltage regulator come into picture to provide 5V power supply for the ICs.

Joystick (Pressed) / External ADC (Depressed)

While you are using the analog joystick you are using the internal ADC of the controller which is available at PORTF (Channel 1 – X axis and Channel 2 – Y axis). The LDR which is another analog sensor is also connected at PORTF (Channel 0). Make sure that this switch is in pressed position while the joystick is being used.

In case you want to use the open interface pins of the PORTF, in order to connect external analog sensors or digital sensors (refer labeled figure of uNiBoard), change the switch position to depressed. There is another jumper setting which you would need to do in order to take the LDR out of the circuit. This configuration will be discussed while discussing jumper settings.

Program Enable (Pressed) / UART0 (Depressed)

While programming the board this is one switch that you should never forget to press, failing which avrdude (programming software will flash an error saying “target not found”.

Once programming has been completed in order to gain access to UART0 you will need to keep the switch in the depressed position, since the UART0 pins are multiplexed with the programming pins.

General Purpose PORTS

PORTC

PORTC is an open interface port which can be used to connect any devices on FRC connector.

PORTF (Joystick/LDR/External sensors)

PORTF can be used to connect external analog or digital sensors or it can also be used as Joystick or LDR ADC channels. There are two connectors FRC connector and Berg sensor port connector either of which can be used to connect the external sensors. The Berg sensor port connector is compatible with our TRI sensors. You can visit to website at http://www.thinklabs.in/resources/ to checkout TRI sensors and you can buy at

http://www.thinklabs.in/shop/.

PORTG

PORTG is an open interface port which can be used to connect any devices on berg connector.

PORTC and PORT F

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The PORTC and PORTF (ADC) are open ports and can be connected to test LEDs through FRC cable. These can be accessed using 10-pin the FRC connector.

The pin diagram of Atmega128 is given below along with the manner in which we have utilized the port pins in case of uNiBoard:

Jumper Settings

Apart from the configuration switches discussed above the jumper settings is another source of arriving to wrong conclusions provided that they have not been set correctly.

SPI

lines

LCD

DATA

UART0

I2C

(RTC)

PORTC

(Open Interface on FRC connector)

UART1

(Max232)

16 MHz

Crystal

MOTOR 2

MOTOR 1

MOTOR EN

Joystick/LDR/Ex

ternal sensors

LCD RS

LCD EN

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There are two jumpers on the board one for programming or SPI jumper and other one for LDR or External ADC selection. As shown in the figure below:

LDR jumper

You can use them as per your application requirements. In case you are connecting external sensors at the sensor port, you will need to change the position of the LDR jumper so as to disassociate it from the circuit as shown below:

LDR

Jumper

4 SPI

Lines

Programming

Jumper

Joystick/External

sensor Selection

USB Power

Selection

Program Enable

/UART0 Selection

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While connecting external sensors at the open interface of PORTF, this jumper position should be changed to the alternate position as shown below:

Programming jumper:

The programming jumper has to be retained in the position shown below under all cases except when using the SPI communication lines.

While using the SPI communication lines the jumper can be either removed or placed in the adjoining pins provided which is NC (No Connection), as shown below. The latter is a safer option to ensure that you do not misplace the jumper.

Position of jumper while using LDR senso

r

Position of jumper using external analog

sensors

Position of jumper while using LDR sensor

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Software Installation

s for Linux OS

The procedure that we are discussing for U

manager. Hence you need to have an internet connection in place before you begin with this.

of *.deb or *.rpm packages of the listed software and install it on your system.

The

following section describes t

Text Editor

(Gedit Editor)

The Gedit (text editor) might be installed already on your system, since it’s the default text editor provided

by the distribution. If you fin

d that it is missing you can follow the below mentioned steps.

Installing Gedit Editor:

STEP 1:

Open terminal and type: “sudo aptitude install gedit” and press enter

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s

buntu

Linux involves downloading packages through the synaptic

he installation of the software packages

on Ubuntu Linux

http://thinklabs.in

If not get hold

.

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STEP 2: Enter root password.

STEP 3:

It will show a list of all dependencies

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installed as shown below

http://thinklabs.in

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STEP 4:

Press ALT + F2 and type gedit and press enter to open the Gedit application

STEP 5:

The Gedit application will open

Gedit Editor Plug-in

(Embedded Terminal):

The Embedded Terminal is

a gedit

execute Linux commands, compile program using the MAKE utility and download it on to our chip

NOTE:

Close all gedit application.

STEP 1:

Open terminal and type: “sudo aptitude install gedit

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plug-in which fits a terminal in

the gedit window through whic

-

plugins” and press en

http://thinklabs.in

h we can

ter

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STEP 2: Enter root password.

STEP 3:

It will show a list of all dependencies installed as shown below

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http://thinklabs.in

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STEP 4:

Press ALT + F2 and type gedit and press enter to open the Gedit application

STEP 5:

The Gedit application will open

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.

http://thinklabs.in

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STEP 6:

Then in gedit open Edit menu > preferences and goto plugins tab

STEP 7:

Select Embedded Terminal and press close button

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.

http://thinklabs.in

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STEP 8:

Go to the View menu and select Bottom pane

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Compiler (avr-gcc)

STEP 1:

Open terminal and type: “sudo aptitude install

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gcc-avr” and press enter

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STEP 2: Enter root password.

STEP 3:

It will show a list of all dependencies install as shown below

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.

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Thinklabs UNIBOARD V1.1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual