Making Things Move,
Lighting Things Up and
AVR Programming
CS4062 - Eoin Brazil - Semester 2 - 2009

Servos and Motors
Motion
linear or
rotary Stepper Servo
conversion
issues
Types
DC
Gearhead DC Motor
Servo
Stepper
Gearhead

DC Motor
2 Connections
Continual spin, given current & voltage
Reversing current, reverses the direction
Increasing the voltage, spins faster,
decreasing the voltage, slows the spin
High speed but low torque
Gearbox can add torque but at the expense
of speed

DC Motor Example

DC Motor Example

DC Motor Example

Three Pieces

Gearhead Motor
DC Motor with gearbox
Not fast but provide more torque
Servo Motor Gearhead
Gearhead motor with position feedback
Feedback is often from potentiometer
Pulsing the motor moves it to particular
position within 180 degree range
Can’t move 360 degrees but can be
Servo
positioned precisely within the 180 degree
range

Stepper Motor
Precise positioning &
360 degrees range
Move in discrete steps around a circle
A 200 step motor would move 1.8 degrees
per step around the full 360 degrees
Continuous rotation in either direction
Good torque
Complex to connect

Solenoids and
Actuators
Microactuators
Linear
Motion Actuator
Pull or Push
Types
Solenoid
Solenoid
Actuator
Microactuator

Motor Characteristics
gears or direct
rated voltage
current (efficiency) - stall / running
speed - spin / rpm, rps, Hz
torque
size, shaft diameter, shaft length
position resolution (Servos & Steppers)

Advanced Mediation
Lisa McElligott, 2000
interactive confessional box
used real confessional box
confessor was computer
program
interacted using a voice interface.
scripted interactions with
random noises to add to
immersion
suspension of disbelief
realism

Weave Mirror
Daniel Rozin,
Weave Mirror,
2007
Mechanical mirror
Any person standing in front of one of
these pieces is instantly reflected on its
surface. Side and back
views
Uses video cameras, motors and
computers to achieve mirroring
Sound aspect - soothing sound

Weave Mirror
Daniel Rozin,
Weave Mirror,
2007

Organic Energy Cloud

Motorised Cloud

PWM
Analog input / output
Duration of the digital pulse of voltage
Microcontroller - HIGH 5V or LOW 0V
``Fake’’ it using PWM
Duty cycle, ratio from low to high to low cycle
LED dimming, DC Motor speed control, Piezo
speakers, RC Servo positioning

Pulse Width
Modulation

Wiring
Diagram
Schematic
Diagram

RC Servo Motor
Servo Motor
Connections on Arduino
Black wire would go to Grd pin
Red wire would go to 5V power pin
White wire would go to one of the digital
pins on the board
Colours can vary, Ground (black or
brown), Power (red), Control (orange, yellow
or white)

/*
* NewSerialServo
* --------------
* Servo control from the Serial port
*
* Alteration of the control interface to use < and > keys
* to slew the servo horn left and right. Works best with
* the Linux/Mac terminal \"screen\" program.
*
* Created 10 December 2007
* copyleft 2007 Brian D. Wendt
* http://principialabs.com/
*
* Adapted from code by Tom Igoe, http://itp.nyu.edu/physcomp/Labs/Servo
*/
/** Adjust these values for your servo and setup, if necessary **/
int servoPin = 2; // control pin for servo motor
int minPulse = 600; // minimum servo position
int maxPulse = 2400; // maximum servo position
int turnRate = 100; // servo turn rate increment (larger value, faster rate)
int refreshTime = 20; // time (ms) between pulses (50Hz)
/** The Arduino will calculate these values for you **/
continued
int centerServo; // center servo position
int pulseWidth; // servo pulse width
on next
int moveServo; // raw user input
long lastPulse = 0; // recorded time (ms) of the last pulse
slide

/*
Setup the necessary
* NewSerialServo
* --------------
* Servo control from the Serial port
control values and
*
* Alteration of the control interface to use < and > keys
* to slew the servo horn left and right. Works best with
variables to store
* the Linux/Mac terminal \"screen\" program.
*
* Created 10 December 2007
information
* copyleft 2007 Brian D. Wendt
* http://principialabs.com/
*
* Adapted from code by Tom Igoe, http://itp.nyu.edu/physcomp/Labs/Servo
*/
/** Adjust these values for your servo and setup, if necessary **/
int servoPin = 2; // control pin for servo motor
int minPulse = 600; // minimum servo position
int maxPulse = 2400; // maximum servo position
int turnRate = 100; // servo turn rate increment (larger value, faster rate)
int refreshTime = 20; // time (ms) between pulses (50Hz)
/** The Arduino will calculate these values for you **/
continued
int centerServo; // center servo position
int pulseWidth; // servo pulse width
on next
int moveServo; // raw user input
long lastPulse = 0; // recorded time (ms) of the last pulse
slide

// Main program setup
void setup() {
pinMode(servoPin, OUTPUT); // Set servo pin as an output pin
centerServo = maxPulse - ((maxPulse - minPulse)/2);
pulseWidth = centerServo; // Give the servo a starting point (or it floats)
Serial.begin(9600);
Serial.println(\" Arduino Serial Servo Control\");
Serial.println(\"Press < or > to move, spacebar to center\");
Serial.println();
}
void loop() {
// wait for serial input
if (Serial.available() > 0) {
// read the incoming byte:
moveServo = Serial.read();
// ASCII '<' is 44, ASCII '>' is 46 (comma and period, really)
if (moveServo == 44) { pulseWidth = pulseWidth - turnRate; }
if (moveServo == 46) { pulseWidth = pulseWidth + turnRate; }
continued
if (moveServo == 32) { pulseWidth = centerServo; }
// stop servo pulse at min and max
on next
if (pulseWidth > maxPulse) { pulseWidth = maxPulse; }
if (pulseWidth < minPulse) { pulseWidth = minPulse; }
}
slide

// Main program setup
void setup() {
pinMode(servoPin, OUTPUT); // Set servo pin as an output pin
centerServo = maxPulse - ((maxPulse - minPulse)/2);
pulseWidth = centerServo; // Give the servo a starting point (or it floats)
Serial.begin(9600);
Setup servo its
Serial.println(\" Arduino Serial Servo Control\");
Serial.println(\"Press < or > to move, spacebar to center\");
pin, its pulse, and
Serial.println();
}
its position. Setup
void loop() {
// wait for serial input
serial connection
if (Serial.available() > 0) {
// read the incoming byte:
moveServo = Serial.read();
for control
// ASCII '<' is 44, ASCII '>' is 46 (comma and period, really)
if (moveServo == 44) { pulseWidth = pulseWidth - turnRate; }
if (moveServo == 46) { pulseWidth = pulseWidth + turnRate; }
continued
if (moveServo == 32) { pulseWidth = centerServo; }
// stop servo pulse at min and max
on next
if (pulseWidth > maxPulse) { pulseWidth = maxPulse; }
if (pulseWidth < minPulse) { pulseWidth = minPulse; }
}
slide

// Main program setup
void setup() {
pinMode(servoPin, OUTPUT); // Set servo pin as an output pin
centerServo = maxPulse - ((maxPulse - minPulse)/2);
pulseWidth = centerServo; // Give the servo a starting point (or it floats)
Serial.begin(9600);
Serial.println(\" Arduino Serial Servo Control\");
Serial.println(\"Press < or > to move, spacebar to center\");
Serial.println();
The serial input controls the
}
servo by the ‘<‘ or ‘>’ and keep
void loop() {
// wait for serial input
if (Serial.available() > 0) {
its speed within the safe range
// read the incoming byte:
moveServo = Serial.read();
// ASCII '<' is 44, ASCII '>' is 46 (comma and period, really)
if (moveServo == 44) { pulseWidth = pulseWidth - turnRate; }
if (moveServo == 46) { pulseWidth = pulseWidth + turnRate; }
continued
if (moveServo == 32) { pulseWidth = centerServo; }
// stop servo pulse at min and max
on next
if (pulseWidth > maxPulse) { pulseWidth = maxPulse; }
if (pulseWidth < minPulse) { pulseWidth = minPulse; }
}
slide

// pulse the servo every 20 ms (refreshTime) with current pulseWidth
// this will hold the servo's position if unchanged, or move it if changed
if (millis() - lastPulse >= refreshTime) {
digitalWrite(servoPin, HIGH); // start the pulse
delayMicroseconds(pulseWidth); // pulse width
digitalWrite(servoPin, LOW); // stop the pulse
lastPulse = millis(); // save the time of the last pulse
}
}
// END of Main program

Pulse the servo every 20ms, this is where the
desired change actually happens and its based
on the previous serial input
// pulse the servo every 20 ms (refreshTime) with current pulseWidth
// this will hold the servo's position if unchanged, or move it if changed
if (millis() - lastPulse >= refreshTime) {
digitalWrite(servoPin, HIGH); // start the pulse
delayMicroseconds(pulseWidth); // pulse width
digitalWrite(servoPin, LOW); // stop the pulse
lastPulse = millis(); // save the time of the last pulse
}
}
// END of Main program

Switches
Types and contacts
Knives and toggles Knive (SPST)
Single pole = control of one circuit
Double pole = two circuits controlled at
once
Single throw = one path for circuit
Double throw = two paths for circuit
Toggle (SPDT)
Foot, tape / mat, roller,
hair trigger, tilt, magnetic /
reed

High and Low
Practical switching
Arduino looks for 0V (low) to 5V (high)
Digital inputs float between these values
Resistor “pulls” input to ground (0 volts)
Pressing switch “pushes” input to 5 volts
Switch pressed = HIGH, not pressed = LOW
setup(): pinMode(myPin,INPUT)
loop(): digitalRead(myPin)

Sketching your work
Bill Verplank
Interaction Design
Sketchbook
Bill Buxton

Embodiment using
Animatronics
Stefan Marti
2005, Autonomous
Interactive
Intermediaries
2005, Physical
Embodiments for Mobile
Communication Agents

Kinematics
Gears and mechanical
models
Geometry of pure motion without
reference to force or mass
Cornell University Library, Kinematic
Examples from
Models for Design Digital Library
www.flying-pig.co.uk
(KMODDL)
Tutorials, models, e-books, e.g. Linkages
Chapter 3 in Building Robot Drive
Trains

PWM Tutorials
ITP Servo tutorial
Principial Labs Arduino Servo
Driving a Unipolar Stepper Motor
Driving a Bipolar Stepper Motor ITP Servo lab, uses
a potentiometer to
Making an RC Servo wall following car control the servo.

Arduino Library
Software Servo Library
attach(int) Turn a pin into a servo driver.
detach() Release a pin from servo driving.
write(int) Set the angle of the servo in degrees, 0 to 180.
read() return that value set with the last write().
attached() return 1 if the servo is currently attached.
refresh() must call once every 50ms to keep servos updated, won't call more than
every 20ms
setMinimumPulse(uint16_t) set the duration of the 0 degree pulse in
microseconds. (default minimum value is 544 microseconds)
setMaximumPulse(uint16_t) set the duration of the 180 degree pulse in
microseconds. (default maximum pluse value is 2400 microsconds)
Need to first send position with write() before you can receive any control signals

Projects and
Prototyping Trade-offs

Projects and
Prototyping Trade-offs
Re-programmable

Projects and
Prototyping Trade-offs
Size
matters

Capacitors
Stores charge With resistors
I = C * dV/dt RC Circuit, parallel or series
low-pass or high-pass filtering
removal of electrical noise

Resistor Color Code
4-band Color Code
10K ! ± 5%
5 - band Color Code
47.5 K ! ± 1%
6 - band Color Code
276 ! ± 5%
Multiplier Tolerance
SLV 0.01 SLV ± 10%
1st Digit 2nd Digit 3rd Digit GLD 0.1 Temperature
GLD ± 5%
Coefficient
BLK-0 BLK-0 BLK-0 BLK-1
BRN-100ppm
BRN-1 BRN-1 BRN-1 BRN-10 BRN ± 1%
RED-50ppm
RED-2 RED-2 RED-2 RED-100 RED ± 2%
ORN-15ppm
ORN-3 ORN-3 ORN-3 ORN-1K
YEL-25ppm
YEL-10K
YEL-4 YEL-4 YEL-4
GRN-100K
GRN-5 GRN-5 GRN-5 GRN ± 0.5%
BLU-6 BLU-6 BLU-6 BLU-1M BLU- ± 0.25%
VIO-7 VIO-7 VIO-7 VIO-10M VIO ± 0.1%
GRY-8 GRY-8 GRY-8
GRY-8
WHT-9 WHT-9 WHT-9

Measuring Resistance

Measuring Voltage

Diodes
LEDs, Zener, Schottky, Photo
Pass current in one direction
only
Forward voltage drop
e.g. forward voltage drop of 0.7 V in circuit where
input is 5V will have voltage of 4.3V on its far side
Rectification
Removal of negative voltages from signal, i.e. a
bridge rectifier
LED, 1.6V forward voltage drop, current limit 36mA, circuit
total voltage 5V.
VR = 5 - 1.6 = 3.4V
R = V / I = 3.4 / 0.036 = 94.44 Ohm (at least 100 Ohm)
P = V * I = 3.4 * 0.036 = 0.1224 W (at least 0.125W)

RGB LEDs

RGB LEDs

RGB LEDs
Ambient orb Cube of LEDS

RGB LEDs
TiniTinct, Arduino-based monome compatible

AVR Programmer

AVR ATTiny13 Blinky

AVR ATTiny13 Blinky

/* Two LEDs, tied to pin b0 and to b1 which correspond to physical pins 5 and 6 on ATTINY13 are turned
on for 100ms and then off for 200ms
*/
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include \"pin_macros.h\" // Leah Buechley's pin macros for AVRs - very useful
int main(void)
{ // Set Port B pins for 3 and 4 as outputs
b0_output; //initialize LED pin
b1_output; //initialize LED pin
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
for ( ; 1==1 ; ) // loop while 1 equals 1 - forever - C style loop
{
// Set Port B pins for 3 and 4 as HIGH (i.e. turn the LEDs on)
b0_low; //LED is on
b1_low; //LED is on
_delay_loop_2(65535);
b0_high; //LED is off
b1_high; //LED is off
_delay_loop_2(65535);
}
return 1;
}

/* Two LEDs, tied to pin b0 and to b1 which correspond to physical pins 5 and 6 on ATTINY13 are turned
on for 100ms and then off for 200ms
*/
#include <avr/io.h>
Include the
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include \"pin_macros.h\" // Leah Buechley's pin macros for AVRs - very useful
libraries and set
int main(void)
the speed of chip
{ // Set Port B pins for 3 and 4 as outputs
b0_output; //initialize LED pin
b1_output; //initialize LED pin
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
for ( ; 1==1 ; ) // loop while 1 equals 1 - forever - C style loop
{
// Set Port B pins for 3 and 4 as HIGH (i.e. turn the LEDs on)
b0_low; //LED is on
b1_low; //LED is on
_delay_loop_2(65535);
b0_high; //LED is off
b1_high; //LED is off
_delay_loop_2(65535);
}
return 1;
}

/* Two LEDs, tied to pin b0 and to b1 which correspond to physical pins 5 and 6 on ATTINY13 are turned
on for 100ms and then off for 200ms
*/
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include \"pin_macros.h\" // Leah Buechley's pin macros for AVRs - very useful
Setup LED pins, Data
int main(void)
{ // Set Port B pins for 3 and 4 as outputs
Direction Register and
b0_output; //initialize LED pin
b1_output; //initialize LED pin
turn LEDS off.
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
for ( ; 1==1 ; ) // loop while 1 equals 1 - forever - C style loop
{
// Set Port B pins for 3 and 4 as HIGH (i.e. turn the LEDs on)
b0_low; //LED is on
b1_low; //LED is on
_delay_loop_2(65535);
b0_high; //LED is off
b1_high; //LED is off
_delay_loop_2(65535);
}
return 1;
}

/* Two LEDs, tied to pin b0 and to b1 which correspond to physical pins 5 and 6 on ATTINY13 are turned
on for 100ms and then off for 200ms
*/
#include <avr/io.h>
#define F_CPU 1000000 // set to 1 MHz as delay.h needs F_CPU
#include <util/delay.h>
#include \"pin_macros.h\" // Leah Buechley's pin macros for AVRs - very useful
Loop - Turn the pins
int main(void)
{ // Set Port B pins for 3 and 4 as outputs
on, wait for 262ms, and
b0_output; //initialize LED pin
b1_output; //initialize LED pin
turn off. Repeat.
b0_high; //LED is off
b1_high; //LED is off
DDRB = 0x18; // In binary this is 0001 1000 (note that is bit 3 and 4)
for ( ; 1==1 ; ) // loop while 1 equals 1 - forever - C style loop
{
// Set Port B pins for 3 and 4 as HIGH (i.e. turn the LEDs on)
b0_low; //LED is on
b1_low; //LED is on
_delay_loop_2(65535);
b0_high; //LED is off
b1_high; //LED is off
_delay_loop_2(65535);
}
return 1;
}

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
# default target when \"make\" is run w/o arguments
all: sample_led_program.rom
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
When Make is run,
# default target when \"make\" is run w/o arguments
all: sample_led_program.rom
needs a target
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
Use avr-gcc to compile
# default target when \"make\" is run w/o arguments
all: sample_led_program.rom
‘c’ program
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
Use avr-gcc on `o’ obj
# default target when \"make\" is run w/o arguments
all: sample_led_program.rom
file to create `elf’ file
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
Use avr-objcopy to
# default target when \"make\" is run w/o arguments
create rom from elf file
all: sample_led_program.rom
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
Use avrdube and a
# default target when \"make\" is run w/o arguments
usbtiny to copy to the
all: sample_led_program.rom
# compile sample_led_program.c into sample_led_program.o
ATtiny13 chip
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

# Makefile for sample_led_program for ATtiny13 chip
# Note: to use makefile with a different chip change all
# mmcu statements (-mmcu=attiny13) to reflect new chip
# also change the part option (-p t13) for the avrdude install command
Clean up the files
# default target when \"make\" is run w/o arguments
all: sample_led_program.rom
created
# compile sample_led_program.c into sample_led_program.o
sample_led_program.o: sample_led_program.c
avr-gcc -c -g -O0 -Wall -mmcu=attiny13 sample_led_program.c -o sample_led_program.o
# link up sample_led_program.o into sample_led_program.elf
sample_led_program.elf: sample_led_program.o
avr-gcc sample_led_program.o -Wall,-nm,-Map=sample_led_program.map,--cref -
mmcu=attiny13 -o sample_led_program.elf
# copy ROM (FLASH) object out of sample_led_program.elf into sample_led_program.rom
sample_led_program.rom: sample_led_program.elf
avr-objcopy -O ihex sample_led_program.elf sample_led_program.rom
# command to program chip (invoked by running \"make install\")
install:
avrdude -c usbtiny -p t13 -e -U flash:w:sample_led_program.rom
# command to clean up junk (no source files) (invoked by \"make clean\")
clean:
rm -f *.o *.rom *.elf *.map *~

Call the Makefile

Call the Install part of
Makefile which calls avrdude

Run avrdude, it reads
the rom, writes it to
the chip and verifies
this process

Things To Remember
Safety first, last, and always
do not take another person’s work about the state of a piece of equipment, always
check yourself and make sure its safe for you to work
use the right tool for the job
treat each tool with respect and rack them back in their correct place when they are
not in use, don’t leave a dangerous tool loose when it can harm somebody else
don’t leave your safety glasses on the bench or in your pocket
don’t work on a live circuit, turn the power off first
don’t solder in an enclosed area without proper ventilation
read the datasheet first and double check it to be sure
get twice or three times the number of parts that you need for your circuit, you will
make mistakes and sometimes you will have to throw an almost finished piece away

Data Sheets
Manufacturer’s details for particular electronic product
typical device performance
minimum and maximum requirements and characteristics
device tolerances, what you can do without harming it
suggestions for applications, uses, or just hints
You don’t need to understand everything only need to
focus on the parts that are of interest to your current
problem

Features
• High Performance, Low Power AVR® 8-Bit Microcontroller
• Advanced RISC Architecture
– 120 Powerful Instructions – Most Single Clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 20 MIPS Througput at 20 MHz
• High Endurance Non-volatile Memory segments
– 1K Bytes of In-System Self-programmable Flash program memory
– 64 Bytes EEPROM
8-bit
– 64K Bytes Internal SRAM
– Write/Erase cyles: 10,000 Flash/100,000 EEPROM
Microcontroller
– Data retention: 20 years at 85°C/100 years at 25°C(1)
– Optional Boot Code Section with Independent Lock Bits
with 1K Bytes
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
– Programming Lock for Software Security
In-System
• Peripheral Features
– One 8-bit Timer/Counter with Prescaler and Two PWM Channels
Programmable
– 4-channel, 10-bit ADC with Internal Voltage Reference
Example:
– Programmable Watchdog Timer with Separate On-chip Oscillator
Flash
– On-chip Analog Comparator
• Special Microcontroller Features
– debugWIRE On-chip Debug System
– In-System Programmable via SPI Port
ATtiny13V
– External and Internal Interrupt Sources
Models
– Low Power Idle, ADC Noise Reduction, and Power-down Modes
ATtiny13
– Enhanced Power-on Reset Circuit
– Programmable Brown-out Detection Circuit
ATtiny13
– Internal Calibrated Oscillator
• I/O and Packages
Summary
– 8-pin PDIP/SOIC: Six Programmable I/O Lines
– 20-pad MLF: Six Programmable I/O Lines
• Operating Voltage:
– 1.8 - 5.5V for ATtiny13V
If it is the short summary
– 2.7 - 5.5V for ATtiny13
• Speed Grade
or longer full datasheet
– ATtiny13V: 0 - 4 MHz @ 1.8 - 5.5V, 0 - 10 MHz @ 2.7 - 5.5V
– ATtiny13: 0 - 10 MHz @ 2.7 - 5.5V, 0 - 20 MHz @ 4.5 - 5.5V
• Industrial Temperature Range
• Low Power Consumption
– Active Mode:
1 MHz, 1.8V: 240µA
– Power-down Mode:
< 0.1µA at 1.8V
One page overview of models and capabilities
Date
Rev. 2535HS–AVR–10/07

Pin Configurations Figure 1. Pinout ATtiny13
PDIP or SOIC are
8-PDIP/SOIC
the only two
(PCINT5/RESET/ADC0/dW) PB5 1 8 VCC
package types (PCINT3/CLKI/ADC3) PB3 2 7 PB2 (SCK/ADC1/T0/PCINT2)
we'll use. The (PCINT4/ADC2) PB4 3 6 PB1 (MISO/AIN1/OC0B/INT0/PCINT1)
GND 4 5 PB0 (MOSI/AIN0/OC0A/PCINT0)
other types require
SMD soldering. 20-QFN/MLF
NC
NC
NC
NC
NC
20
19
18
17
16
(PCINT5/RESET/ADC0/dW) PB5 1 15 VCC
(PCINT3/CLKI/ADC3) PB3 2 14 PB2 (SCK/ADC1/T0/PCINT2)
NC 3 13 NC
NC 4 12 PB1 (MISO/AIN1/OC0B/INT0/PCINT1)
Example:
(PCINT4/ADC2) PB4 5 11 PB0 (MOSI/AIN0/OC0A/PCINT0)
10
6
7
8
9
NC
NC
GND
NC
NC
NOTE: Bottom pad should be soldered to ground.
NC: Not Connect
ATtiny13
10-QFN/MLF
(PCINT5/RESET/ADC0/dW) PB5 1 10 VCC
(PCINT3/CLKI/ADC3) PB3 2 9 PB2 (SCK/ADC1/T0/PCINT2)
NC 3 8 NC
(PCINT4/ADC2) PB4 4 7 PB1 (MISO/AIN1/OC0B/INT0/PCINT1)
GND 5 6 PB0 (MOSI/AIN0/OC0A/PCINT0)
NOTE: Bottom pad should be soldered to ground.
NC: Not Connect
Overview The ATtiny13 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced
RISC architecture. By executing powerful instructions in a single clock cycle, the
ATtiny13 achieves throughputs approaching 1 MIPS per MHz allowing the system
designer to optimize power consumption versus processing speed.
Date
ATtiny13
2
2535HS–AVR–10/07

Interrupt system to continue functioning. The Power-down mode saves the register con-
tents, disabling all chip functions until the next Interrupt or Hardware Reset. The ADC
Noise Reduction mode stops the CPU and all I/O modules except ADC, to minimize
switching noise during ADC conversions.
The device is manufactured using Atmel’s high density non-volatile memory technology.
The On-chip ISP Flash allows the Program memory to be re-programmed In-System
through an SPI serial interface, by a conventional non-volatile memory programmer or
by an On-chip boot code running on the AVR core.
The ATtiny13 AVR is supported with a full suite of program and system development
tools including: C Compilers, Macro Assemblers, Program Debugger/Simulators, In-Cir-
cuit Emulators, and Evaluation kits.
Pin Descriptions
Descriptions of the pins
shown in the previous
VCC Digital supply voltage.
diagram with comments
GND Ground.
Example:
Port B (PB5..PB0) Port B is a 6-bit bi-directional I/O port with internal pull-up resistors (selected for each
bit). The Port B output buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset
condition becomes active, even if the clock is not running.
Port B also serves the functions of various special features of the ATtiny13 as listed on
page 51.
ATtiny13
RESET Reset input. A low level on this pin for longer than the minimum pulse length will gener-
ate a reset, even if the clock is not running. The minimum pulse length is given in Table
12 on page 31. Shorter pulses are not guaranteed to generate a reset.
Note: 1.
Data Retention Reliability Qualification results show that the projected data retention failure rate is much
less than 1 PPM over 20 years at 85°C or 100 years at 25!C.
About Code This documentation contains simple code examples that briefly show how to use various
parts of the device. These code examples assume that the part specific header file is
Examples
included before compilation. Be aware that not all C compiler vendors include bit defini-
tions in the header files and interrupt handling in C is compiler dependent. Please
confirm with the C compiler documentation for more details.
ATtiny13
4
2535HS–AVR–10/07

Electrical Characteristics
Absolute Maximum Ratings*
*NOTICE: Stresses beyond those listed under “Absolute
Operating Temperature.................................. -55!C to +125!C
Maximum Ratings” may cause permanent dam-
age to the device. This is a stress rating only and
Storage Temperature ..................................... -65°C to +150°C
functional operation of the device at these or
other conditions beyond those indicated in the
Voltage on any Pin except RESET
operational sections of this specification is not
with respect to Ground ................................-0.5V to VCC+0.5V
implied. Exposure to absolute maximum rating
conditions for extended periods may affect
Voltage on RESET with respect to Ground......-0.5V to +13.0V
device reliability.
Maximum Operating Voltage ............................................ 6.0V
Descriptions of the what
DC Current per I/O Pin ............................................... 40.0 mA
maximum ratings for device are.
DC Current VCC and GND Pins................................ 200.0 mA
Running at these or beyond will
DC Characteristics damage the device
Example:
T = -40!C to 85!C, V = 1.8V to 5.5V (unless otherwise noted)(1)
A CC
Symbol Parameter Condition Min. Typ. Max. Units
VCC = 1.8V - 2.4V 0.2VCC
Input Low Voltage except
VIL -0.5 V
RESET pin VCC = 2.4V - 5.5V 0.3VCC
0.7VCC(3)
VCC = 1.8V - 2.4V
Input High-voltage except
VIH VCC +0.5 V
0.6VCC(3)
RESET pin VCC = 2.4V - 5.5V
ATtiny13
Input Low-voltage
VIL1 VCC = 1.8V - 5.5 -0.5 0.1VCC V
CLKI pin
0.8VCC(3)
Input High-voltage VCC = 1.8V - 2.4V
VIH1 VCC +0.5 V
0.7VCC(3)
CLKI pin VCC = 2.4V - 5.5V
Input Low-voltage
VIL2 VCC = 1.8V - 5.5 -0.5 0.2VCC V
RESET pin
Input High-voltage
0.9VCC(3)
VIH2 VCC = 1.8V - 5.5 VCC +0.5 V
RESET pin
Input Low-voltage VCC = 1.8V - 2.4V
VIL3 -0.5 0.2VCC V
RESET pin VCC = 2.4V - 5.5V
0.7VCC(3)
Input High-voltage VCC = 1.8V - 2.4V
VIH3 VCC +0.5 V
0.6VCC(3)
RESET pin VCC = 2.4V - 5.5V
Output Low Voltage(4) IOL = 20 mA, VCC = 5V 0.7 V
VOL
(PB1 and PB0) IOL = 10 mA, VCC = 3V 0.5 V
Output Low Voltage(4) IOL = 10 mA, VCC = 5V 0.7 V
VOL1
(PB5, PB4, PB3 and PB2) IOL = 5 mA, VCC = 3V 0.5 V
IOL =TBD mA, VCC =
Output Low Voltage(4) TBDV V
VOL2
(PB5, Reset used as I/O) IOL =TBD mA, VCC = V
TBDV
Output High-voltage(5) IOH = -20 mA, VCC = 5V 4.2 V
VOH
( PB1 and PB0) IOH = -10 mA, VCC = 3V 2.5 V
ATtiny13
120
2535H–AVR–10/07

ATtiny13
TA = -40\"C to 85\"C, VCC = 1.8V to 5.5V (unless otherwise noted)(1) (Continued)
Symbol Parameter Condition Min. Typ. Max. Units
(5)
Output High-voltage IOH = -10 mA, VCC = 5V 4.2 V
VOH1
(PB4, PB3 and PB2) IOH = -5 mA, VCC = 3V 2.5 V
IOH = - TBD mA, VCC =
Output High-voltage(5) TBDV V
VOH2
(PB5, Reset used as I/O) IOH = - TBD mA, VCC = V
TBDV
Some chips have internal resistors
Vcc = 5.5V, pin low
Input Leakage
IIL 1 µA
which you can use for inputs, here
Current I/O Pin (absolute value)
Vcc = 5.5V, pin high
Input Leakage
is where you can find their value
IIH 1 µA
Current I/O Pin (absolute value)
RRST Reset Pull-up Resistor 30 80 k!
Rpu I/O Pin Pull-up Resistor 20 50 k!
Active 1MHz, VCC = 2V 0.35 mA
Active 4MHz, VCC = 3V 1.8 mA
Example:
Active 8MHz, VCC = 5V 6 mA
Power Supply Current
Idle 1MHz, VCC = 2V 0.08 0.2 mA
ICC
Idle 4MHz, VCC = 3V 0.41 1 mA
Idle 8MHz, VCC = 5V 1.6 3 mA
WDT enabled, VCC = 3V <5 10 µA
Power-down mode
ATtiny13
WDT disabled, VCC = 3V < 0.5 2 µA
Analog Comparator Input VCC = 5V
VACIO < 10 40 mV
Offset Voltage Vin = VCC/2
Analog Comparator Input VCC = 5V
IACLK -50 50 nA
Leakage Current Vin = VCC/2
Analog Comparator VCC = 2.7V 750
tACPD ns
Propagation Delay VCC = 4.0V 500
Notes: 1. All DC Characteristics contained in this data sheet are based on simulation and characterization of other AVR microcontrol-
lers manufactured in the same process technology. These values are representing design targets, and will be updated after
characterization of actual silicon.
2. “Max” means the highest value where the pin is guaranteed to be read as low.
3. “Min” means the lowest value where the pin is guaranteed to be read as high.
4. Although each I/O port can sink more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V for PB5, PB1:0, 10 mA
at VCC = 5V, 5 mA at VCC = 3V for PB4:2) under steady state conditions (non-transient), the following must be observed:
1] The sum of all IOL, for all ports, should not exceed 60 mA.
If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater
than the listed test condition.
5. Although each I/O port can source more than the test conditions (20 mA at VCC = 5V, 10 mA at VCC = 3V for PB5, PB1:0, 10
mA at VCC = 5V, 5 mA at VCC = 3V for PB4:2) under steady state conditions (non-transient), the following must be observed:
1] The sum of all IOH, for all ports, should not exceed 60 mA.
If IOH exceeds the test condition, VOH may exceed the related specification. Pins are not guaranteed to source current
greater than the listed test condition.
121
2535H–AVR–10/07