Realisasi Prototipe Sistem Gerak Robot Dengan Dua Kaki.

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i

REALISASI PROTOTIPE SISTEM GERAK ROBOT DENGAN

DUA KAKI

Disusun Oleh:

Raymond Wahyudi

0422022

Jurusan Teknik Elektro, Fakultas Teknik, Universitas Kristen Maranatha,

Jl. Prof.Drg.Suria Sumantri, MPH no.65, Bandung, Indonesia,

email : em0nd@hotmail.com

ABSTRAK

Kemajuan teknologi telah melahirkan berbagai dampak baik. Salah satu

hasilnya adalah robot. Tidak dapat dipungkiri lagi kehadiran robot telah banyak

membantu meringankan pekerjaan manusia. Robot diciptakan dalam berbagai bentuk

dan ukuran sesuai dengan tujuan robot itu diciptakan. Dewasa ini banyak ilmuan

menciptakan robot sesuai dengan bentuk fisik manusia. Robot ini dirancang untuk

menyerupai manusia dan bertingkah laku serta berpikir seperti layaknya manusia.

Menciptakan robot manusia sempurna merupakan tantangan yang ditawarkan oleh

teknologi masa kini.

Tugas Akhir ini merealisasikan sebuah sistem gerak robot dengan dua kaki

seperti kaki manusia. Pola gerakan yang dibentuk menyerupai gerak manusia

berjalan. Kaki robot menggunakan delapan servo. Servo-servo ini dikontrol oleh

mikrokontroler. Mikrokontroler yang digunakan ATMEGA16 dan ATTINY2313.

Gerakan melangkah ditunjang oleh servo Hitec HS-422 dan HS-475 HB.

Tinggi kaki robot 216 milimeter dengan rangka kaki dibuat dari aluminium. Kaki

dikendalikan oleh keypad dan bergerak sesuai dengan gerakan yang telah diprogram.

LCD membantu menampilkan informasi sudut dari setiap servo yang bergerak.

Gerakan yang dapat dilakukan adalah berjalan ke depan, berjalan ke

belakang, berputar ke kanan dan berputar ke kiri. Dalam satu langkah kaki dapat

menempuh jarak terjauh 37 milimeter. Waktu tercepat kaki melangkah adalah

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ii

REALIZATION OF

TWO LEGS ROBOT SISTEM MOVEMENT PROTOTIPE

Composed by:

Raymond Wahyudi

0422022

Electrical Engineering, Maranatha Cristian University,

Jl. Prof.Drg.Suria Sumantri, MPH no.65, Bandung, Indonesia,

email : em0nd@hotmail.com

ABSTRACT

Technology has given a lot of good impact. One of the result is robot. Robots

were created with certain purpose. Robots help human to do their work and make it

easier to do.

Robot was created in many form and size to the purpose it was created. These

days, many scientists create human form robot. This robot was designed to look like

and act like normal human being. To create a humanoid robot is a challenge that

technologies offer in this time.

The Final Project is to create a movement system form with two legs just like

human legs. Robot legs were created so it can move like human. This robot uses

eight servos. To move the legs, servos controlled by microcontroller.

Microccontrolers which are used to control servos are ATMEGA16 and

ATTINY2313. Combining of these microcontrollers is for system efficiency.

Walking move is supported by servo Hitec HS-422 and HS-475 HB. The

robot is 216 millimeters tall and created from aluminium sheet with 1 mm thickness.

The command was given by keypad 4x4 and can move to follow a programmed

pattern. LCD helps user by displaying angle from the active servo.

The movements are walking forward, walking backward, rotate position to

left and rotate position to right. Robot can reach up to 37 millimeters in one step. The

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v

DAFTAR ISI

ABSTRAK ... i

ABSTRACT... ii

KATA PENGANTAR ... iii

DAFTAR ISI... v

DAFTAR TABEL... vii

DAFTAR GAMBAR ... viii

BAB I

PENDAHULUAN... 1

I.1

LATAR BELAKANG... 1

I.2

IDENTIFIKASI MASALAH ... 1

I.3

TUJUAN... 2

I.4

PEMBATASAN MASALAH ... 2

I.5

SPESIFIKASI ALAT YANG DIGUNAKAN ... 2

I.6

SISTEMATIKA PENULISAN... 2

BAB II

LANDASAN TEORI... 4

II.1

MIKROKONTROLER ... 4

II.1.1

MIKROKONTROLER ATMEGA16 ... 4

II.1.1.1

STRUKTUR ATMEGA16 ... 5

II.1.1.2

REGISTER DAN MEMORI ATMEGA16 ... 8

II.1.1.3

PORT INPUT/OUTPUT ATMEGA16 ... 9

II.1.2

MIKROKONTROLER ATTINY2313 ... 10

II.1.2.1

STRUKTUR ATTINY2313 ... 10

II.1.2.2

REGISTER DAN MEMORI ATTINY2313 ... 13

II.1.2.3

PORT INPUT/OUTPUT ATTINY2313 ... 13

II.1.2.4

PULSE WIDTH MODULATION ATTINY2313 ... 14

II.2

SERVO ... 15

II.3

PULSE WIDTH MODULATION ... 17

II.4

PUSAT MASSA DAN TITIK BERAT ... 18

II.4.1

PUSAT MASSA ... 18

II.4.2

TITIK BERAT ... 19

II.5

KONSEP MOMEN DAN TORSI... 19

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vi

BAB III

PERANCANGAN ... 22

III.1

STRUKTUR KAKI... 22

III.2

MIKROKONTROLER ... 28

III.2.1

PERANCANGAN PERANGKAT KERAS... 28

III.2.2

PERANCANGAN PERANGKAT LUNAK... 34

III.2.2.1

PULSE WIDTH MODULATION ATTINY2313 ... 34

III.2.2.2

SISTEMATIKA PEMROGRAMAN GERAK KAKI ROBOT... 35

III.3

POLA GERAK KAKI... 37

III.4

KERJA SISTEM GERAK KAKI ... 40

III.4.1

BERJALAN KE DEPAN ... 40

III.4.2

BERJALAN KE BELAKANG... 41

III.4.3

BERPUTAR KE KANAN... 42

III.4.4

BERPUTAR KE KIRI... 43

BAB IV

HASIL DAN ANALISA ... 45

IV.1

PENGUJIAN SUDUT SERVO BEBAS... 45

IV.2

PENGUJIAN SUDUT SERVO PADA STRUKTUR KAKI... 46

IV.3

PENGUJIAN KECEPATAN LANGKAH KAKI ... 48

IV.4

PENGUJIAN JARAK LANGKAH KAKI... 50

IV.5

PENGUJIAN SUDUT PUTAR ... 51

IV.6

PENGUJIAN GERAKAN KAKI ... 52

IV.6.1

GERAKAN PERTAMA ... 52

IV.6.2

GERAKAN KEDUA ... 53

IV.6.3

GERAKAN KETIGA ... 55

IV.6.4

GERAKAN KEEMPAT... 57

IV.6.5

GERAKAN KELIMA... 59

BAB V

KESIMPULAN DAN SARAN ... 61

DAFTAR PUSTAKA

LAMPIRAN A DATA UJI COBA SUDUT BEBAS SERVO

LAMPIRAN B SOURCE CODE

LAMPIRAN C FOTO ALAT

LAMPIRAN D DATASHEET MIKROKONTROLER

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vii

DAFTAR TABEL

Tabel 2.1

Konfigurasi Port Atmega16... 9

Tabel 2.2

Konfigurasi Port Attiny2313 ... 13

Tabel 3.1

Sudut Kerja Servo ... 26

Tabel 3.2

Koordinat Pusat Massa Bagian dengan Sudut 45

°

pada Servo 7 dan

Acuan pada Titik 1 ... 27

Tabel 3.3

Pengkawatan Port Atmega16 dengan Attiny2313 ... 32

Tabel 3.4

Bit Selektor Attiny2313... 32

Tabel 3.5

Konfigurasi Bit Pengiriman Data... 33

Tabel 3.6

Rentang Nilai OCR1x ... 35

Tabel 3.7

Posisi Poros Servo... 37

Tabel 3.8

Koordinat Pusat Massa Bagian dengan Acuan pada Titik 8 ... 38

Tabel 4.1

Pengujian Sudut Servo Bebas ... 45

Tabel 4.2

Pengujian Sudut Posisi Tegak ... 46

Tabel 4.3

Pengujian Sudut Posisi 1 ... 46

Tabel 4.4

Tabel 4.5

Tabel 4.6

Tabel 4.7

Tabel 4.8

Tabel 4.9

Uji Coba Lama Delay Terhadap Waktu Langkah Kaki ke Depan... 49

Tabel 4.10

Uji Coba Lama Delay Terhadap Waktu Langkah Kaki ke Belakang . 49

Tabel 4.11

Uji Coba Nilai Sudut Terhadap Jarak Langkah Kaki... 50

Tabel 4.12

Pengujian Sudut Putar ke Kanan oleh Servo 1 ... 51

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viii

DAFTAR GAMBAR

Gambar 2.1 Konfigurasi Pin ATMEGA16... 5

Gambar 2.2 Blok Diagram ATMEGA16 ... 7

Gambar 2.3 Register ATMEGA16 ... 8

Gambar 2.4 Pemetaan Memori ATMEGA16 ... 8

Gambar 2.5 Konfigurasi Pin ATTINY2313 ... 11

Gambar 2.6 Blok Diagram ATTINY2313... 12

Gambar 2.7 Register ATTINY2313... 13

Gambar 2.8 Phase & Frequency Correct PWM... 14

Gambar 2.9 Struktur Servo ... 16

Gambar 2.10 Potensiometer Servo... 16

Gambar 2.11 Lebar Pulsa On Pengendali Servo... 17

Gambar 2.12 Pulse Width Modulation... 18

Gambar 2.13 Lengan Momen dan Gaya... 20

Gambar 2.14 Gerakan Melangkah ... 21

Gambar 3.1 Bipedal Robotic Articulating Transport ... 22

Gambar 3.2 Robonova... 23

Gambar 3.3 BIPED Austrobots... 23

Gambar 3.4 Struktur Kaki Tegak ... 24

Gambar 3.5 Berdiri dengan Satu Kaki Tampak Depan... 25

Gambar 3.6 Pengaruh Telapak Kaki ... 25

Gambar 3.7 Tanpa Pengaruh Telapak Kaki... 25

Gambar 3.8 Penomoran Servo Tampak Depan... 26

Gambar 3.9 Posisi Kaki Miring 45

°

dengan Titik Pusat Massa Bagian... 27

Gambar 3.10 Letak Pusat Massa Kaki Robot ... 28

Gambar 3.11 Skematik Rangkaian Mikrokontroler ATMEGA16... 29

Gambar 3.12 Skematik Rangkaian Mikrokontroler ATTINY2313 ... 30

Gambar 3.13 Skematik Rangkaian Driver L293D... 31

Gambar 3.14 Flowchart Program... 36

Gambar 3.15 Struktur Kaki dengan Titik Pusat Massa Bagian ... 38

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ix

Gambar 3.17 Flowchart Melangkah ke Belakang... 42

Gambar 3.18 Flowchart Berputar ke Kanan ... 43

Gambar 3.19 Flowchart Berputar ke Kiri ... 43

Gambar 4.1 Diagram Alir Gerakan Pertama ... 52

Gambar 4.2 Gerakan Pertama ... 53

Gambar 4.3 Diagram Alir Gerakan Kedua ... 54

Gambar 4.4 Lintasan Kedua ... 54

Gambar 4.5 Gerakan Kedua... 55

Gambar 4.6 Diagram Alir Gerakan Ketiga... 55

Gambar 4.7 Lintasan Ketiga ... 56

Gambar 4.8 Gerakan Ketiga ... 56

Gambar 4.9 Diagram Alir Gerakan Keempat ... 57

Gambar 4.10 Lintasan Keempat ... 57

Gambar 4.11 Gerakan Keempat... 58

Gambar 4.12 Diagram Alir Gerakan Kelima... 59

Gambar 4.13 Lintasan Kelima ... 59

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/***************************************************** This program was produced by the

CodeWizardAVR V1.25.3 Professional Automatic Program Generator

Project : Program Test Version :

Date : 1/1/2008 Author : Raymond Company : Comments:

Chip type : ATmega16 Program type : Application Clock frequency : 12.000000 MHz Memory model : Small External SRAM size : 0 Data Stack size : 256

*****************************************************/ #include <mega16.h>

#include <delay.h> #include <scankeypadD.h> #include <scankeypadD_rev.h> #include <sudutservo.h> #include <stdio.h>

char s1=90,s2=90,s3=90,s4=90,s5=90,s6=90,s7=90,s8=90; char bil1,bil2;

char tempc,tot; char text[16]; eeprom char z=0; #define delay delay_ms(10);

// Alphanumeric LCD Module functions #asm

.equ __lcd_port=0x15 ;PORTC #endasm

#include <lcd.h>

// Declare your global variables here void main(void)

{

// Declare your local variables here // Input/Output Ports initialization // Port A initialization

// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out // State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0

PORTA=0x00; DDRA=0xFF; // Port B initialization

PORTB=0x00; DDRB=0xFF; // Port C initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00;

DDRC=0x00; // Port D initialization

(9)

// Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x00;

TCNT0=0x00; OCR0=0x00;

// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge // Timer 1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0x00;

TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00;

// Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FFh // OC2 output: Disconnected ASSR=0x00;

TCCR2=0x00; TCNT2=0x00; OCR2=0x00;

// External Interrupt(s) initialization // INT0: Off

// INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00;

// Analog Comparator initialization // Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;

SFIOR=0x00;

// LCD module initialization lcd_init(16);

lcd_clear();

lcd_putsf("A - input geser B - sudut sudut"); while (1)

{

// Place your code here mulai:

tempc=scan_keypadD_rev(); switch(tempc)

{

(10)

case 'D':lcd_clear();lcd_putsf("gerakan hormat");goto hormat;break; case

'0':sudutservo(90,1);sudutservo(90,2);sudutservo(90,3);sudutservo(90,4);sudutservo(90,5);sudutservo(90,6);sudutservo(90,7);su dutservo(90,8);;break;

case 1:lcd_clear();lcd_putsf("jalan ke depan");goto satu;break; }

goto mulai;

//==============================================sudut==================================== manual_sudut:

{

case 1:lcd_clear();lcd_putsf("input sdt mtr 1 ");sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);goto sudut1;break;

case 'D':goto mulai;break; }

goto manual_sudut;

//=============================================sudut1================================== sudut1:

{

case '0':bil2=bil1;bil1=0;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 1:bil2=bil1;bil1=1;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 2:bil2=bil1;bil1=2;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 3:bil2=bil1;bil1=3;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 4:bil2=bil1;bil1=4;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 5:bil2=bil1;bil1=5;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 6:bil2=bil1;bil1=6;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 7:bil2=bil1;bil1=7;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 8:bil2=bil1;bil1=8;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 9:bil2=bil1;bil1=9;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case '*':tempc=90-tot;sudutservo(tempc,1);break;

case '#':tempc=90+tot;sudutservo(tempc,1);break;

case 'A':bil1=0;bil2=0;tot=0;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(90,1);break; case 'C':lcd_clear();lcd_putsf("input no motor");goto manual_sudut;break;

case 'D':lcd_clear();lcd_putsf("A - input geser B - sudut sudut");goto mulai;break; }

goto sudut1;

//=============================================sudut2================================== sudut2:

{

(11)

}

goto sudut2;

//=============================================sudut3================================== sudut3:

{

goto sudut3;

//=============================================sudut4================================== sudut4:

{

case 'D':lcd_clear();lcd_putsf("A - input geser B - sudut sudut");goto mulai; goto sudut4;

//=============================================sudut5================================== sudut5:

{

goto sudut5;

//=============================================sudut6================================== sudut6:

{

(12)

case 1:bil2=bil1;bil1=1;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 2:bil2=bil1;bil1=2;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 3:bil2=bil1;bil1=3;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 4:bil2=bil1;bil1=4;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 5:bil2=bil1;bil1=5;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 6:bil2=bil1;bil1=6;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 7:bil2=bil1;bil1=7;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 8:bil2=bil1;bil1=8;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case 9:bil2=bil1;bil1=9;tot=bil2*10+bil1;sprintf(text,"sudut %2d",tot);lcd_gotoxy(0,1);lcd_puts(text);break; case '*':tempc=90-tot;sudutservo(tempc,6);break;

goto sudut6;

//=============================================sudut7================================== sudut7:

{

goto sudut7;

//=============================================sudut8================================== sudut8:

{

goto sudut8;

//=========================================manual==================== manual_geser:

tempc=scan_keypadD(); switch(tempc) {

case 1:lcd_clear();lcd_putsf("motor servo 1");sprintf(text,"sudut servo1 %3d",s1);lcd_gotoxy(0,1);lcd_puts(text);goto servo1;break;

(13)

}

goto manual_geser;

//=======================================motor 1========================== servo1:

case 1:lcd_clear();lcd_putsf("motor servo 1");goto servo1;break; case 2:lcd_clear();lcd_putsf("motor servo 2");goto servo2;break; case 3:lcd_clear();lcd_putsf("motor servo 3");goto servo3;break; case 4:lcd_clear();lcd_putsf("motor servo 4");goto servo4;break; case 5:lcd_clear();lcd_putsf("motor servo 5");goto servo5;break; case 6:lcd_clear();lcd_putsf("motor servo 6");goto servo6;break; case 7:lcd_clear();lcd_putsf("motor servo 7");goto servo7;break; case 8:lcd_clear();lcd_putsf("motor servo 8");goto servo8;break;

case '*':s1--;delay_ms(50);sprintf(text,"sudut servo1 %3d",s1);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s1,1);break; case '#':s1++;delay_ms(50);sprintf(text,"sudut servo1 %3d",s1);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s1,1);break; case 'A':s1=90;delay_ms(50);sprintf(text,"sudut servo1 %3d",s1);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s1,1);break; case 'D':lcd_clear();lcd_putsf("A - input geser B - sudut sudut");goto mulai;break;

}

goto servo1;

//=======================================motor 2========================== servo2:

}

goto servo2;

//=======================================motor 3========================== servo3:

}

goto servo3;

//=======================================motor 4========================== servo4:

(14)

case 2:lcd_clear();lcd_putsf("motor servo 2");goto servo2;break; case 3:lcd_clear();lcd_putsf("motor servo 3");goto servo3;break; case 4:lcd_clear();lcd_putsf("motor servo 4");goto servo4;break; case 5:lcd_clear();lcd_putsf("motor servo 5");goto servo5;break; case 6:lcd_clear();lcd_putsf("motor servo 6");goto servo6;break; case 7:lcd_clear();lcd_putsf("motor servo 7");goto servo7;break; case 8:lcd_clear();lcd_putsf("motor servo 8");goto servo8;break;

case '*':s4--;delay_ms(50);sprintf(text,"sudut servo4 %3d",s4);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s4,4);break; case '#':s4++;delay_ms(50);sprintf(text,"sudut servo4 %3d",s4);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s4,4);break;

case 'A':s4=90;delay_ms(50);sprintf(text,"sudut servo4 %3d",s4);lcd_gotoxy(0,1);lcd_puts(text);sudutservo(s4,4);break; case 'D':lcd_clear();lcd_putsf("A - input geser B - sudut sudut");goto mulai;break;

}

goto servo4;

//=======================================motor 5========================== servo5:

}

goto servo5;

//=======================================motor 6========================== servo6:

}

goto servo6;

//=======================================motor 7========================== servo7:

}

goto servo7;

//=======================================motor 8========================== servo8:

(15)

switch(tempc) {

}

goto servo8; }; }

void sudutservo(char sudut, char servo) {

char bil1,bil2; bil1=sudut&0x0f;

bil2=sudut&0xf0;bil2=bil2/16; switch(servo)

{

case 1: PORTB=4;

PORTA=bil1|0b00010000;delay_ms(15); PORTA=bil2|0b00100000;delay_ms(15);break; case 2: PORTB=4;

PORTA=bil1|0b00110000;delay_ms(15); PORTA=bil2|0b01000000;delay_ms(15);break; }

PORTB=0;PORTA=0; return;

}

char scan_keypadD(void) {

int scankey; char keypressed =0; DDRD = 0x0F; PORTD = 0xFE; scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = 1; break;

(16)

case 0xB0 : keypressed = 3; break;

case 0x70 : keypressed = 'A'; break;

}

PORTD = 0xFD; delay_ms(10); scankey = PIND&0xf0; switch (scankey) {

case 0xD0 : keypressed = 5; break;

case 0x70 : keypressed = 'B'; break;

}

PORTD = 0xFB; delay_ms(10); scankey = PIND&0xf0; switch (scankey) {

case 0xD0 : keypressed = 8; break;

case 0x70 : keypressed = 'C'; break;

}

PORTD = 0xF7; delay_ms(10); scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = '*'; break;

case 0xD0 : keypressed = '0'; break;

case 0xB0 : keypressed = '#'; break;

case 0x70 : keypressed = 'D'; break;

}

return keypressed; }

char scan_keypadD_rev(void) {

int scankey; char keypressed=0; char temp; temp=PORTD; DDRD = 0x0F; PORTD = 0xFE; delay_us(1); scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = 1; break; case 0xD0 : keypressed = 2; break; case 0xB0 : keypressed = 3; break; case 0x70 : keypressed = 'A'; break; }

cek1:

scankey = PIND&0xf0; delay_us(1); switch (scankey)

(17)

case 0xf0: goto lanjut2; default: goto cek1; }

lanjut2:

PORTD = 0xFD; delay_us(1); scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = 4; break; case 0xD0 : keypressed = 5; break; case 0xB0 : keypressed = 6; break; case 0x70 : keypressed = 'B'; break; }

cek2:

{

lanjut3:

PORTD = 0xFB; delay_us(1);

scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = 7; break; case 0xD0 : keypressed = 8; break; case 0xB0 : keypressed = 9; break; case 0x70 : keypressed = 'C'; break; }

cek3:

{

lanjut4:

PORTD = 0xF7; delay_us(1);

scankey = PIND&0xf0; switch (scankey) {

case 0xE0 : keypressed = '*'; break; case 0xD0 : keypressed = '0'; break; case 0xB0 : keypressed = '#'; break; case 0x70 : keypressed = 'D'; break; }

cek4:

{

(18)

/***************************************************** This program was produced by the

CodeWizardAVR V1.25.3 Professional Automatic Program Generator

Project : 5 Gerakan Kaki Version :

Date : 1/1/2008 Author : Raymond Company : Comments:

Chip type : ATmega16 Program type : Application Clock frequency : 12.000000 MHz Memory model : Small External SRAM size : 0 Data Stack size : 256

*****************************************************/ #include <mega16.h>

#include <delay.h> #include <sudutservo.h>

char s1=90,s2=90,s3=90,s4=90,s5=90,s6=90,s7=90,s8=90; char bil1,bil2,tempc,tot,i;

#define delay delay_ms(100); #define delay1 delay_ms(1000); // Alphanumeric LCD Module functions #asm

.equ __lcd_port=0x15 ;PORTC #endasm

#include <lcd.h>

// Declare your global variables here

//============================================================ void kanan_naik(void)

{//kaki kanan angkat sudutservo(100,2);delay; sudutservo(110,2);delay; sudutservo(100,7);delay; sudutservo(110,7);delay; sudutservo(120,7);delay; sudutservo(130,7);delay; sudutservo(140,7);delay; sudutservo(120,2);delay; sudutservo(150,7);delay; sudutservo(130,2);delay; sudutservo(160,7);delay; sudutservo(135,2);delay; sudutservo(150,7);delay; sudutservo(140,7);delay; sudutservo(130,7);delay; sudutservo(120,7);delay; sudutservo(110,7);delay; sudutservo(100,7);delay; sudutservo(90,7);delay;delay; return;

}

//============================================================ void kanan_maju(void)

{//==kaki kanan maju - kaki kiri mundur==

sudutservo(90,3);sudutservo(90,4);sudutservo(90,6);sudutservo(90,5);delay; sudutservo(95,3);sudutservo(95,4);sudutservo(95,6);sudutservo(95,5);delay; sudutservo(100,3);sudutservo(100,4);sudutservo(100,6);sudutservo(100,5);delay; sudutservo(105,3);sudutservo(105,4);sudutservo(105,6);sudutservo(105,5);delay; sudutservo(110,3);sudutservo(110,4);sudutservo(110,6);sudutservo(110,5);delay; sudutservo(115,3);sudutservo(115,4);sudutservo(115,6);sudutservo(115,5);delay; return;

}

(19)

{//==kaki kanan turun== sudutservo(130,2);delay;delay; sudutservo(120,2);delay;delay; sudutservo(110,2);delay;delay; sudutservo(100,2);delay;delay; sudutservo(90,2);delay;delay; return;

}

//============================================================ void kiri_naik(void)

{//==kaki kiri naik== sudutservo(80,7);delay; sudutservo(70,7);delay; sudutservo(80,2);delay; sudutservo(70,2);delay; sudutservo(60,2);delay; sudutservo(50,2);delay; sudutservo(40,2);delay; sudutservo(60,7);delay; sudutservo(30,2);delay; sudutservo(50,7);delay; sudutservo(20,2);delay; sudutservo(45,7);delay; sudutservo(30,2);delay; sudutservo(40,2);delay; sudutservo(50,2);delay; sudutservo(60,2);delay; sudutservo(70,2);delay; sudutservo(80,2);delay; sudutservo(90,2);delay;delay; return;

}

//============================================================ void kiri_maju(void)

{//==kaki kiri maju - kaki kanan mundur==

sudutservo(90,6);sudutservo(90,5);sudutservo(90,3);sudutservo(90,4);delay; sudutservo(85,6);sudutservo(85,5);sudutservo(85,3);sudutservo(85,4);delay; sudutservo(80,6);sudutservo(80,5);sudutservo(80,3);sudutservo(80,4);delay; sudutservo(75,6);sudutservo(75,5);sudutservo(75,3);sudutservo(75,4);delay; sudutservo(70,6);sudutservo(70,5);sudutservo(70,3);sudutservo(70,4);delay; sudutservo(65,6);sudutservo(65,5);sudutservo(65,3);sudutservo(65,4);delay; return;

}

//============================================================ void kiri_turun(void)

{//==kaki kiri turun== sudutservo(50,7);delay;delay; sudutservo(60,7);delay;delay; sudutservo(70,7);delay;delay; sudutservo(80,7);delay;delay; sudutservo(90,7);delay;delay; return;

}

//============================================================ void lurus(void)

{//==kaki kanan - kaki kiri lurus

sudutservo(90,3);sudutservo(90,4);sudutservo(90,6);sudutservo(90,5);delay;delay; return;

}

//============================================================ void main(void)

{

// Declare your local variables here // Input/Output Ports initialization // Port A initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTA=0x00;

DDRA=0xff; // Port B initialization

(20)

PORTB=0x00; DDRB=0xff; // Port C initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00;

DDRC=0x00; // Port D initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTD=0x00;

DDRD=0x00;

// Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x00;

TCNT0=0x00; OCR0=0x00;

// Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge // Timer 1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0x00;

TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00; OCR1BH=0x00; OCR1BL=0x00;

// Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FFh // OC2 output: Disconnected ASSR=0x00;

TCCR2=0x00; TCNT2=0x00; OCR2=0x00;

// External Interrupt(s) initialization // INT0: Off

// INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00;

// Analog Comparator initialization // Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80;

SFIOR=0x00;

(21)

lcd_init(16); lcd_clear(); while (1)

{ // Place your code here satu:

delay1;

kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kanan_naik();delay1; kiri_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kanan_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();

kanan_turun();delay1;

//=======================================dua============================== dua:

delay_ms(1000); kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kanan_naik();delay1; for(i=90;i<121;i=i+1) {sudutservo(i,1);delay_ms(50);} delay1;

kanan_turun();delay1; kiri_naik();delay1; for(i=120;i>89;i=i-1)

{sudutservo(i,1);delay_ms(50);} delay1;

(22)

kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1;

//=======================================tiga============================== tiga:

delay_ms(1000); kanan_naik();delay1; kiri_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kanan_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kiri_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kanan_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kiri_naik();delay1; for(i=90;i>44;i=i-5)

kiri_turun();delay1; kanan_naik();delay1; for(i=45;i<91;i=i+5) {sudutservo(i,8); } delay1;

kanan_turun();delay1; kanan_naik();delay1; kiri_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kanan_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kiri_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kanan_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1;

//=======================================empat============================ empat:

delay_ms(1000); kiri_naik();delay1; for(i=90;i>44;i=i-5)

kiri_turun();delay1; kanan_naik();delay1; for(i=45;i<91;i=i+5)

(23)

delay1;

kanan_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kanan_naik();delay1; for(i=90;i<136;i=i+5) {sudutservo(i,1);delay_ms(50);} delay1;

kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1;

//=======================================lima============================= lima:

delay_ms(1000); kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kanan_naik();delay1; for(i=90;i<181;i=i+5) {sudutservo(i,1);delay_ms(50);} delay1;

(24)

delay1;

kiri_turun();delay1; kanan_naik();delay1; kanan_maju();delay1; kanan_turun();delay1; kiri_naik();delay1; kiri_maju();delay1; kiri_turun();delay1; kanan_naik();delay1; lurus();delay1; kanan_turun();delay1; kanan_naik();delay1; for(i=90;i<181;i=i+5) {sudutservo(i,1);delay_ms(50);} delay1;

kiri_turun();delay1; };

(25)

Features

•

High-performance, Low-power AVR

®

8-bit Microcontroller

•

Advanced RISC Architecture

– 131 Powerful Instructions – Most Single-clock Cycle Execution

– 32 x 8 General Purpose Working Registers

– Fully Static Operation

– Up to 16 MIPS Throughput at 16 MHz

– On-chip 2-cycle Multiplier

•

High Endurance Non-volatile Memory segments

– 16K Bytes of In-System Self-programmable Flash program memory

– 512 Bytes EEPROM

– 1K Byte Internal SRAM

– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

– Data retention: 20 years at 85°C/100 years at 25°C

(1)

– Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program

True Read-While-Write Operation

– Programming Lock for Software Security

•

JTAG (IEEE std. 1149.1 Compliant) Interface

– Boundary-scan Capabilities According to the JTAG Standard

– Extensive On-chip Debug Support

– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

•

Peripheral Features

– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture

Mode

– Real Time Counter with Separate Oscillator

– Four PWM Channels

– 8-channel, 10-bit ADC

8 Single-ended Channels

7 Differential Channels in TQFP Package Only

2 Differential Channels with Programmable Gain at 1x, 10x, or 200x

– Byte-oriented Two-wire Serial Interface

– Programmable Serial USART

– Master/Slave SPI Serial Interface

– Programmable Watchdog Timer with Separate On-chip Oscillator

– On-chip Analog Comparator

•

Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection

– Internal Calibrated RC Oscillator

– External and Internal Interrupt Sources

– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby

and Extended Standby

•

I/O and Packages

– 32 Programmable I/O Lines

– 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF

•

Operating Voltages

– 2.7 - 5.5V for ATmega16L

– 4.5 - 5.5V for ATmega16

•

Speed Grades

– 0 - 8 MHz for ATmega16L

– 0 - 16 MHz for ATmega16

•

Power Consumption @ 1 MHz, 3V, and 25



C for ATmega16L

– Active: 1.1 mA

– Idle Mode: 0.35 mA

– Power-down Mode: < 1 µA

8-bit

Microcontroller

with 16K Bytes

In-System

Programmable

Flash

ATmega16

ATmega16L

(26)

C onfigurations

Fig u re 1.

Pinout ATm ega16

PDIP

(XCK/T0) PB0 (T1) PB1 (INT2/AIN0) PB2 (O C0/AIN1) PB3 (SS) PB4 (M O SI) PB5 (M ISO ) PB6 (SCK) PB7 RESET VCC G ND XTAL2 XTAL1 (RXD) PD0 (TXD) PD 1 (INT0) PD2 (INT1) PD3 (O C1B) PD4 (O C1A) PD5 (ICP1) PD6

PA0 (ADC0) PA1 (ADC 1) PA2 (ADC 2) PA3 (ADC 3) PA4 (ADC 4) PA5 (ADC 5) PA6 (ADC 6) PA7 (ADC 7) AREF G ND AVCC PC7 (TO SC2) PC6 (TO SC1) PC5 (TDI) PC4 (TDO ) PC3 (TM S) PC2 (TCK ) PC1 (SDA) PC0 (SCL) PD7 (O C2)

TQFP/QFN/MLF

(M O SI) PB5 (M ISO ) PB6 (SCK) PB7 RESET VCC G ND XTAL2 XTAL1 (RXD) PD0 (TXD) PD 1 (INT0) PD2

PA4 (ADC4) PA5 (ADC 5) PA6 (ADC 6) PA7 (ADC 7) AREF G ND AVCC PC7 (TO SC2) PC6 (TO SC1) PC5 (TDI) PC4 (TDO )

NOTE:

Bottom pad should be soldered to ground.

D isclaim er

Typic al valu es con taine d in this datashee t are base d on sim ulatio ns a nd c harac teriza tion of

other AV R microcontrollers m anufactured on the sam e process technology. M in and M ax values

will be available after the device is characterized.

2

ATmega16(L)

(27)

GENERAL PURPOSE REG ISTERS

X Y Z

ATmega16(L)

O verview

The AT m ega16 is a low -power C M O S 8-bit m icrocontroller based on the AV R enhanced RISC

architecture. By executing powerful instructions in a single clock cycle, the ATm ega16 achieves

throughputs approaching 1 MIPS per M Hz allowing the system designer to optim ize pow er

con-sum ption versus processin g speed.

Block Diagram

Fig u re 2.

Block Diagram

VCC

PA0 - PA7 PC0 - PC7

PORTA DRIVERS/BUFFERS PORTC DRIVERS/BUFFERS

GND PORTA DIG ITAL INTERFACE PORTC DIG ITAL INTERFACE

AVCC

M U X & AD C

ADC

INTERFACE TW I AREF

PROG RAM CO UNTER

STACK PO INTER

TIMERS/

CO UNTERS OSCILLATO R

PROG RAM

FLASH SRAM

INTERNAL OSCILLATO R

XTAL1 INSTRUCTION

REG ISTER

WATCHDOG

TIMER OSCILLATO R

INSTRUCTION DECODER

MCU CTRL. & TIMING

XTAL2 RESET

C O N T R O L

L IN E S A LU

INTERRUPT UNIT

INTERNAL CALIBRATED OSCILLATO R

AVR CPU STATUS

REG ISTER EEPROM

P RO G R AM MIN G

LO G IC SPI USART

+ COM P.

- INTERFACE

PORTB DIG ITAL INTERFACE PORTD DIG ITAL INTERFACE

PORTB DRIVERS/BUFFERS PORTD DRIVERS/BUFFERS

PB0 - PB7 PD0 - PD7

3

(28)

The AV R core com bines a rich instruction set with 32 general purpose w orking registers. All the

32 registers are directly connected to the Arithm etic Logic Unit (ALU ), allowing tw o independent

registers to b e accesse d in on e single instructio n execute d in on e clo ck cycle . The resulting

architecture is m ore code efficient while achievin g throug hputs up to ten tim es faster than

con-ventional CISC microcontrollers.

The AT m ega16 provid es the followin g features: 16K bytes of In-System Program m able Flash

Progra m m em ory with R e ad-W hile -W rite capabilities, 512 bytes E E PR O M , 1K byte SR A M , 32

general purpose I/O lines, 32 general purpose working registers, a JTA G interface for

Boundaryscan, O nchip D ebugging suppo rt and program m ing, three flexible Tim er/C o unters with com

-pare m odes, Internal and E xternal Interrupts, a serial program m able U SAR T, a byte oriented

Tw o -wire S erial Interface, an 8-cha nnel, 10-bit AD C with optional differential input stage w ith

program m able gain (TQFP package only), a program m able W atchdog Tim er with Internal O

scil-lator, an SPI serial port, and six software selecta ble pow er saving m odes. The Idle m ode stops

the CPU while allowing the USA R T, Two-wire interface, A/D C onverter, SRA M , Tim er/C ounters,

SP I port, and interrupt system to continue functioning. The Power-dow n m ode saves the register

contents but freezes the O scillator, disabling all other chip functions until the next External

Inter-ru p t o r H ar d w a re R es et . In P o w e r-sa v e m o d e , th e A sy nc hr o n o u s T im e r co n tin u e s to Inter-ru n,

allow in g th e use r to m ain tain a tim er b as e w hile th e rest of the devic e is sle eping. T he AD C

N ois e R educ tio n m od e stops th e C P U an d all I/O m od ules excep t Asynchron ous Tim e r and

ADC , to m inim ize switchin g noise during AD C conversions . In Standby m ode, the crystal/reso

-nator O scillator is runnin g while the rest of the device is sleeping. This allow s very fast start-up

com bine d with low -pow e r consum ption . In Extende d Standb y m ode, both the m ain O scillator

and the Asynchronous Tim er continue to run.

The device is m anufactured using Atm el’s high density nonvolatile m em ory technology. The O

n-chip ISP Flash allows the program mem ory to be reprogramm ed in-system through an S PI serial

interfac e, by a conventio nal nonvolatile m em ory pro gram m er, or by an O n-chip B oot program

runnin g on the AV R core. The boot program can use any interface to downloa d the application

program in the Application Flash m em ory. Softw are in the Boot Flash section will continue to run

while the Applic ation Flas h sectio n is updated, providing true Read-W hile -W rite ope ration. By

com bining an 8-bit RIS C C PU with In-S yste m S elf-Program m able Flash on a m onolithic chip,

the Atm el ATm ega16 is a pow erful m icrocontroller that provides a highly-flexible and

cost-effec-tive solution to m any em bedded control applications.

The ATm ega1 6 AV R is sup porte d w ith a full suite of prog ram and syste m developm en t tools

including : C com pilers , m acro assem blers , progra m debugge r/sim ula tors, in-circuit em ula tors,

and evaluation kits.

Pin Descriptions

V C C

Digital supply voltage.

G N D

G round.

Port A (PA 7..PA 0)

Port A serves as the analog inputs to the A/D C onverter.

Port A also serves as an 8-bit bi-directiona l I/O port, if the A/D C onverte r is not used. Port pins

can provide internal pullup resistors (selected for each bit). The Port A output buffers have sym

-m etrical drive characteristic s w ith both high sink and source capability. W hen pins PA 0 to PA7

are use d as inp uts and are externally pulle d low , they will sourc e current if the inte rnal pull-up

resisto rs are activ ated. T he P ort A pins are tri-stated w hen a reset condition becom es active,

even if the clock is not running.

4

ATmega16(L)

(29)

ATmega16(L)

Port B (PB 7..P B 0)

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

P ort B outpu t buffe rs hav e sym m e trical driv e cha racteris tics w ith both hig h sin k an d source

capability . As inputs, Port B pins that are externally pulled low will source curren t if the pull-up

resisto rs are activ ated. T he P ort B pins are tri-stated w hen a reset condition becom es active,

Port B also serves the function s of various special features of the ATm ega1 6 as listed on

page

58

.

Port C (PC 7..P C 0)

Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

P o rt C outpu t buffers hav e sym m etrica l driv e c haracteristic s w ith both hig h sink and source

capability . As inputs, Port C pins that are externally pulled low will source curren t if the pull-up

resistors are activate d. T he Port C pins are tri-stated w hen a reset condition becom es active,

even if the clock is not running. If the JTA G interfac e is enable d, the pull-up resistors on pins

PC5(T DI), PC3(TM S) and PC2(T C K) will be activated even if a reset occurs.

P o rt C a ls o s e rv e s th e fu n ctio n s o f th e JT A G inte rfa c e a n d oth e r s p ec ia l fe atu r e s o f th e

ATm ega16 as listed on

page 61

.

Port D (PD 7..P D 0)

Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The

P o rt D outpu t buffers hav e sym m etrical driv e c haracteristic s w ith both hig h sink and source

capability . As inputs, Port D pins that are externally pulled low will source curren t if the pull-up

resistors are activate d. T he Port D pins are tri-stated w hen a reset condition becom es active,

Port D also serves the functions of various specia l features of the ATm ega16 as listed on

page

63

.

R E S E T

R ese t Input. A low leve l o n this pin fo r longe r tha n the m inim u m puls e length will generate a

rese t, even if the cloc k is not running. The m inim um pulse length is given in

T able 15 on page

38

. Shorter pulses are not guaranteed to generate a reset.

XTA L 1

Input to the inverting O scillator am plifier and input to the internal clock operating circuit.

XTA L 2

Output from the inverting O scillator am plifier.

AV C C

AVC C is the sup ply voltage pin for Port A and the A/D C onverter. It should be externally con

-nec ted to V

_{C C}

, eve n if the AD C is not used. If the AD C is used, it should be connecte d to V

_{C C}

through a low -pass filter.

A R E F

ARE F is the analog reference pin for the A/D C onverter.

5

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Features

•

Utilizes the AVR

®

RISC Architecture

•

AVR – High-performance and Low-power RISC Architecture

– 120 Powerful Instructions – Most Single Clock Cycle Execution

– 32 x 8 General Purpose Working Registers

– Fully Static Operation

– Up to 20 MIPS Throughput at 20 MHz

•

Data and Non-volatile Program and Data Memories

– 2K Bytes of In-System Self Programmable Flash

Endurance 10,000 Write/Erase Cycles

– 128 Bytes In-System Programmable EEPROM

Endurance: 100,000 Write/Erase Cycles

– 128 Bytes Internal SRAM

– Programming Lock for Flash Program and EEPROM Data Security

•

Peripheral Features

– One 8-bit Timer/Counter with Separate Prescaler and Compare Mode

– One 16-bit Timer/Counter with Separate Prescaler, Compare and Capture Modes

– Four PWM Channels

– On-chip Analog Comparator

– Programmable Watchdog Timer with On-chip Oscillator

– USI – Universal Serial Interface

– Full Duplex USART

•

Special Microcontroller Features

– debugWIRE On-chip Debugging

– In-System Programmable via SPI Port

– External and Internal Interrupt Sources

– Low-power Idle, Power-down, and Standby Modes

– Enhanced Power-on Reset Circuit

– Programmable Brown-out Detection Circuit

– Internal Calibrated Oscillator

•

I/O and Packages

– 18 Programmable I/O Lines

– 20-pin PDIP, 20-pin SOIC, 20-pad QFN/MLF

•

Operating Voltages

– 1.8 - 5.5V (ATtiny2313V)

– 2.7 - 5.5V (ATtiny2313)

•

Speed Grades

– ATtiny2313V: 0 - 4 MHz @ 1.8 - 5.5V, 0 - 10 MHz @ 2.7 - 5.5V

– ATtiny2313: 0 - 10 MHz @ 2.7 - 5.5V, 0 - 20 MHz @ 4.5 - 5.5V

•

Typical Power Consumption

– Active Mode

1 MHz, 1.8V: 230 µA

32 kHz, 1.8V: 20 µA (including oscillator)

– Power-down Mode

< 0.1 µA at 1.8V

8-bit

Microcontroller

with 2K Bytes

In-System

Programmable

Flash

ATtiny2313/V

Preliminary

Summary

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Pin C onfigurations

Fig u re 1.

Pinout ATtiny2313

PD IP/S O IC

(R ES ET /dW ) PA2 1

(R XD ) PD 0 ₂ (T XD ) P D 1 3

(XTAL2) PA1 4

(XTAL1) PA0 5

(C KO U T /XC K/IN T 0) PD 2 6

(IN T 1) PD 3 7

(T 0) PD 4 8

(O C 0B/T 1) PD 5 9

G N D 10

20 V C C

19 P B7 (U C SK/S C L/PC IN T 7) 18 P B6 (M IS O /D O /P C IN T 6)

17 P B5 (M O SI/D I/S DA/PC IN T 5) 16 P B4 (O C 1B/P C IN T 4)

15 P B3 (O C 1A/P C IN T 3)

14 P B2 (O C 0A/P C IN T 2)

13 P B1 (AIN 1/PC IN T 1)

12 P B0 (AIN 0/PC IN T 0)

11 P D 6 (IC P)

M LF

(T XD ) P D 1 1

XTAL2) PA1 2

(XTAL1) PA0 3

(C KO U T /XC K/IN T 0) PD 2 4

(IN T 1) PD 3 5

15 PB5 (M O SI/D I/S DA/P C IN T 5)

14 PB4 (O C 1 B/P C IN T 4)

13 PB3 (O C 1 A/P C IN T 3)

12 PB2 (O C 0 A/P C IN T 2)

11 PB1 (AIN 1/P C IN T 1)

NOTE: Bottom pad should be soldered to ground.

O verview

T h e A T t in y 2 3 1 3 is a lo w - p o w e r C M O S 8 - b it m ic r o c o n t r o lle r b a s e d o n t h e A V R

enhanced RISC architecture. By execu ting pow erful instructions in a single clock cycle,

the ATtiny2313 achieves throughputs approaching 1 M IPS per M Hz allowin g the system

designer to optim ize power consum ption versus processing speed.

2

ATtiny2313/V

[image:31.612.264.500.92.455.2]

(32)

ATtiny2313/V

Block Diagram

Fig u re 2.

Block Diagram

X TAL1 X TAL2

PA0 - PA2

PO RTA DR IVERS

VCC DATA REG ISTE RPO RTA

DATA DIR.

REG . PO RTA IN TERNAL CALIBR ATED O SCILL ATO R

G ND

8-BIT DATA B US

IN TERNAL O SCILL ATO R

O SCILL ATO R

P RO G RA M CO UN TER

P RO G RA M FLASH

INST RU CT IO N REG ISTE R

INST RUCT IO N DECO DE R

CO NT RO L LINES

S TACK PO INTE R

SRA M

G ENERAL PURPO SE REG ISTE R

ALU

S TATUS REG ISTE R

W ATCHDO G TIM ER

MC U CO NT RO L REG ISTE R

MCU S TATUS REG ISTE R

TIM ER/ CO UN TERS

IN TER RUP T UN IT

EEP RO M

USI

TIM ING AN D CO NT