This document provides an overview of a workshop on basic robotics and embedded systems simulation. It discusses microcontrollers and some popular models like the AVR ATmega16. It describes the ATmega16's features like memory, I/O ports, timers and interfaces. It also explains concepts like I/O registers, binary-hexadecimal conversion, and using embedded C to code for the microcontroller. Examples provided include blinking an LED, pulse width modulation for LED contrast control, and motor speed control.

1. RIG-NITC
WORKSHOP ON BASIC ROBOTICS
AND
EMBEDDED SYSTEMS SIMULATION

2. Doubts?
 You are free to ask your doubts!!

3. Microcontrollers
 abbreviated µC, uC or MCU
 single integrated circuit
◦ processor core
◦ memory
◦ programmable input/output peripherals.
 A computer system optimized for
hardware control in a single piece of
silicon..

4. See what a uC can do.!!

5. Microcontrollers
 Most popular microcontrollers.
◦ AVR
◦ ARM
◦ PIC
◦ 8051
E.g. AVR ATmega8,ATmega16,Cortex
A8,A10

6. Atmega 16

7.  8-bit high performance uC
 1 MIPS speed at 1 MHz
 16 Kb FLASH Memory
 Static RAM of 1 Kb
 0.5 Kb EEPROM
 40 PIN design
 32 I/O ports.
 3 timers
 SPI, TWI, serial interfacing
 ADC converters
 Internal 1 MHz oscillator

8. Extra Information:
• General purpose register :
 Stores local variables
 I/O registers:
 Configures the I/O peripherals
 FLASH:
 Stores our program code and bootloader
 Starts with memory address 0x00
 EEPROM:
 It can be used to store those values to be stored
even when switched off
 Slow to access

9. I/O ports
• 4 i/o ports namely PORT A, PORT B,
PORT C and PORT D
• PORT A has ADC
• Any PIN can be configured both for
input or output.
• BUT how to configure??

10. AVR REGISTERS
 Stores some important values
 Windows registry..?
 Contains address of pins in
hexadecimal values
 Stores the configuration settings

11. Registers 
 Data Direction Register(DDR)
◦ 0 means INPUT PIN
◦ 1 means OUTPUT PIN
 PORT Register
◦ Configures output
 0 means 0v
 1 means 5v
 PIN register
◦ Stores the input at any PIN
 1if input is a 5v signal
 0 if input is 0v

12. Binary to HexaDecimal
Conversion
 Easy to express.
 Binary contains 0 and 1
 Hexadecimal s/m contain 0 to 9 and A
to F
 Binary to hex
 Hex to binary

13. Use of TTL logic.?
 What is TTL logic
 0’s and 1’s  what is its meaning??
 0GND….but what is GND
 1VCC…what is VCC

14. DDR
 DDRx where x=A,B,C,D
 8-BIT binary/hexadecimal value
 Example:
◦ DDRA=0B01110101;

15. PORT
 To configure the output settings
 8-BIT binary/hexadecimal value

16. PULL UP RESISTOR
 Reduce noise..what is noise??
 PORTx bits set 1…ut DDRx is set 0
 Resistor comes in series.

17. Input monitoring??
 Have you ever thought.?
 How?

18. PIN
 Stores the input that the
microcontroller detects…
 Example of input s/m
 8-bit binary/hexadecimal value
 Example:
◦ If PINA==0b00101111do something

19. But how to write the code??

20. Embedded C
• Most powerful programming Language
• Fast execution
• Reduced Instructions
• Similar to simple C coding

21. Essential Software and
Hardware
 Softwares:(will be provided: open source)
◦ Winavr
◦ HIDbootFlash
◦ Proteus ISIS
 Hardwares:(will be provided)
◦ RigDev Board
 Low cost than corporate development boards
 Based on Atmega 16
 In built USB interfacing

22. Getting Started
 Install Winavr
 Install HIDbootFlash
 Check the RigDev Board
◦ Programmers notepad
◦ mfile

23. General Structure of a code
#include<avr/io.h>
int main()
{
}
This is the general format of any embedded C code that we write
for ATmega uCs.
#include<avr/io.h> includes the details about the PIN
configurations of ATmega series of uCs.
Our code is written inside the main() function.

24. Programmers Notepad

25. Programmers Notepad
 Save code as main.c
 Create “ makefile ”
 Tools  make all

26. Makefile
 Written in mfile
 Change mcu name
 Change frequency

27. Lets do something 
 LED Lighting
 CathodeGND
 ANODE5v

28. More about it
 Made up mostly using GaAs.
 Light emitted due to electrical
excitation
 How to identify cathode
◦ Leg method
◦ Edge method
 NEVER CONNECT LED DIRECTLY
TO SUPPLY
 Resistor in series.

29. Lets Do Something 
 LED Blinking
◦ #include<util/delay.h>
 _delay_ms();
 _delay_us();
 #include<avr/io.h>
#include<util/delay.h>
main()
{
DDRA=0X01;
While(1)
{
PORTA=0X01;
_delay_ms(1000);
PORTA=0X00;
_delay_ms(1000);
}
}

30. Pulse Width
Modulation(PWM)
 What is a PWM signal.
 DAC

31. Duty Cycle
How is it usefull.??

32. DAC examples
 LED contrast control
 RMS voltage is exploited

33. LED Contrast Control
 #include “pwm.h” includes the header
file for speed control
 pwminit(int freq) initializes pwm at
required frequency
 pwm(int a,int b) sets pwm on PD4 and
PD5
 a and b are duty cycles
 a controls PD4 and b controls PD5

34. coding
 #include <avr/io.h>
 #include<util/delay.h>
 #include “pwm.h”
 int main()
◦ {
◦ While(1)
◦ {
◦ DDRB=0x30;
◦ pwminit(50);
◦ pwm(0,50);
◦ _delay_ms(2000);
◦ pwm(50,0);
◦ _delay_ms(2000);
◦ pwm(100,100);
◦ _delay_ms(2000);
◦ }
◦ }

36. Motor Speed Control
 #include “pwm.h” includes the header
file for speed control
 pwminit(int freq) initializes pwm at
required frequency
 pwm(int a,int b) sets pwm on PD4 and
PD5
 a and b are duty cycles
 a controls PD4 and b controls PD5

37. Motor speed control
 #include <avr/io.h>
 #include<util/delay.h>
 #include “pwm.h”
 int main()
◦ {
◦ While(1)
◦ {
◦ DDRB=0x30;
◦ pwminit(50);
◦ pwm(0,50);
◦ _delay_ms(2000);
◦ pwm(50,0);
◦ _delay_ms(2000);
◦ pwm(100,100);
◦ _delay_ms(2000);
◦ }
◦ }

38. Have fun..!!