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Hardware Usage Mega
Ian Hartwig edited this page Mar 24, 2016
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15 revisions
This document maps the hardware usage on the Arduino Mega which interfaces with the RC receiver, signal lights, brakes, steering, and battery monitor.
For more hardware details, see the ATmega 2560 Datasheet and the Arduino Mega schematic.
| Channel | Purpose | Notes |
|---|---|---|
| 1 | Steering | |
| 2 | ||
| 3 | ||
| 4 | ||
| 5 | Auton | Switch |
| 6 | Brake | Switch |
| Pin Number | Pin Name / Alt. Capability | Arduino | Direction | Purpose |
|---|---|---|---|---|
| 1 | PG5 ( OC0B ) | D4 (PWM) | ||
| 2 | PE0 ( RXD0/PCINT8 ) | D0 (RX0) | In | RBSM |
| 3 | PE1 ( TXD0 ) | D1 (TX0) | Out | RBSM |
| 4 | PE2 ( XCK0/AIN0 ) | |||
| 5 | PE3 ( OC3A/AIN1 ) | D5 (PWM) | Out | Brake Indicator Light |
| 6 | PE4 ( OC3B/INT4 ) | D2 (PWM) | In | Steering RC Pulse |
| 7 | PE5 ( OC3C/INT5 ) | D3 (PWM) | ||
| 8 | PE6 ( T3/INT6 ) | |||
| 9 | PE7 ( CLKO/ICP3/INT7 ) | |||
| 10 | VCC | VCC | N/A | Power |
| 11 | GND | GND | N/A | Power |
| 12 | PH0 ( RXD2 ) | D17 (RX2) | In | Debug Serial |
| 13 | PH1 ( TXD2 ) | D16 (TX2) | Out | Debug Serial |
| 14 | PH2 ( XCK2 ) | |||
| 15 | PH3 ( OC4A ) | D6 (PWM) | ||
| 16 | PH4 ( OC4B ) | D7 (PWM) | ||
| 17 | PH5 ( OC4C ) | D8 (PWM) | Out | Brake Solenoid |
| 18 | PH6 ( OC2B ) | D9 (PWM) | ||
| 19 | PB0 ( SS/PCINT0 ) | D53 (SS) | ||
| 20 | PB1 ( SCK/PCINT1 ) | D52 (SCK) | ||
| 21 | PB2 ( MOSI/PCINT2 ) | D51 (MOSI) | ||
| 22 | PB3 ( MISO/PCINT3 ) | D50 (MISO) | ||
| 23 | PB4 ( OC2A/PCINT4 ) | D10 (PWM) | ||
| 24 | PB5 ( OC1A/PCINT5 ) | D11 (PWM) | Out | Steering Servo |
| 25 | PB6 ( OC1B/PCINT6 ) | D12 (PWM) | Out | Danger Light |
| 26 | PB7 ( OC0A/OC1C/PCINT7 ) | D13 (PWM) | Out | Debug IO |
| 27 | PH7 ( T4 ) | |||
| 28 | PG3 ( TOSC2 ) | |||
| 29 | PG4 ( TOSC1 ) | |||
| 30 | RESET | RESET | In | Reset |
| 31 | VCC | VCC | N/A | Power |
| 32 | GND | GND | N/A | Power |
| 33 | XTAL2 | XTAL2 | In | Crystal |
| 34 | XTAL1 | XTAL1 | In | Crystal |
| 35 | PL0 ( ICP4 ) | D49 | ||
| 36 | PL1 ( ICP5 ) | D48 | ||
| 37 | PL2 ( T5 ) | D47 | ||
| 38 | PL3 ( OC5A ) | D46 (PWM) | ||
| 39 | PL4 ( OC5B ) | D45 (PWM) | ||
| 40 | PL5 ( OC5C ) | D44 (PWM) | ||
| 41 | PL6 | D43 | ||
| 42 | PL7 | D42 | ||
| 43 | PD0 ( SCL/INT0 ) | D21 (SCL) | In | Brake RC Pulse |
| 44 | PD1 ( SDA/INT1 ) | D20 (SDA) | In | Auton RC Pulse |
| 45 | PD2 ( RXDI/INT2 ) | D19 (RX1) | In | Wheel Encoder |
| 46 | PD3 ( TXD1/INT3 ) | D18 (TX1) | ||
| 47 | PD4 ( ICP1 ) | |||
| 48 | PD5 ( XCK1 ) | |||
| 49 | PD6 ( T1 ) | |||
| 50 | PD7 ( T0 ) | D38 | ||
| 51 | PG0 ( WR ) | D41 | ||
| 52 | PG1 ( RD ) | D40 | ||
| 53 | PC0 ( A8 ) | D37 | ||
| 54 | PC1 ( A9 ) | D36 | ||
| 55 | PC2 ( A10 ) | D35 | ||
| 56 | PC3 ( A11 ) | D34 | ||
| 57 | PC4 ( A12 ) | D33 | ||
| 58 | PC5 ( A13 ) | D32 | ||
| 59 | PC6 ( A14 ) | D31 | ||
| 60 | PC7 ( A15 ) | D30 | ||
| 61 | VCC | VCC | ||
| 62 | GND | GND | ||
| 63 | PJ0 ( RXD3/PCINT9 ) | D15 (RX3) | ||
| 64 | PJ1 ( TXD3/PCINT10 ) | D14 (TX3) | ||
| 65 | PJ2 ( XCK3/PCINT11 ) | |||
| 66 | PJ3 ( PCINT12 ) | |||
| 67 | PJ4 ( PCINT13 ) | |||
| 68 | PJ5 ( PCINT14 ) | |||
| 69 | PJ6 ( PCINT 15 ) | |||
| 70 | PG2 ( ALE ) | D39 | ||
| 71 | PA7 ( AD7 ) | D29 | ||
| 72 | PA6 ( AD6 ) | D28 | ||
| 73 | PA5 ( AD5 ) | D27 | ||
| 74 | PA4 ( AD4 ) | D26 | ||
| 75 | PA3 ( AD3 ) | D25 | ||
| 76 | PA2 ( AD2 ) | D24 | ||
| 77 | PA1 ( AD1 ) | D23 | ||
| 78 | PA0 ( AD0 ) | D22 | ||
| 79 | PJ7 | |||
| 80 | VCC | VCC | N/A | Power |
| 81 | GND | GND | N/A | Power |
| 82 | PK7 ( ADC15/PCINT23 ) | A15 | ||
| 83 | PK6 ( ADC14/PCINT22 ) | A14 | ||
| 84 | PK5 ( ADC13/PCINT21 ) | A13 | ||
| 85 | PK4 ( ADC12/PCINT20 ) | A12 | ||
| 86 | PK3 ( ADC11/PCINT19 ) | A11 | ||
| 87 | PK2 ( ADC10/PCINT18 ) | A10 | ||
| 88 | PK1 ( ADC9/PCINT17 ) | A9 | In | Steering Pot |
| 89 | PK0 ( ADC8/PCINT16 ) | A8 | ||
| 90 | PF7 ( ADC7 ) | A7 | TDI (JTAG) | |
| 91 | PF6 ( ADC6 ) | A6 | TDO (JTAG) | |
| 92 | PF5 ( ADC5/TMS ) | A5 | TMS (JTAG) | |
| 93 | PF4 ( ADC4/TMK ) | A4 | TCK (JTAG) | |
| 94 | PF3 ( ADC3 ) | A3 | ||
| 95 | PF2 ( ADC2 ) | A2 | ||
| 96 | PF1 ( ADC1 ) | A1 | ||
| 97 | PF0 ( ADC0 ) | A0 | In | Battery Voltage |
| 98 | AREF | AREF | ||
| 99 | GND | GND | N/A | Power |
| 100 | AVCC | VCC | N/A | Power |
| Timer | Size | Alt. Capability | Used? | Purpose |
|---|---|---|---|---|
| TIMER0 | 8 bit | PWM | Yes | System Timer |
| TIMER1 | 16 bit | PWM / IC | Yes | Servo PWM |
| TIMER2 | 8 bit | PWM / Async | ||
| TIMER3 | 16 bit | PWM / IC | Yes | RC Input Capture |
| TIMER4 | 16 bit | PWM / IC | Yes | RC Input Capture |
| TIMER5 | 16 bit | PWM / IC | Yes | RC Input Capture |
RoboBuggy (pushing code ain't all we do)