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Hardware Usage Mega
yshen-1 edited this page Feb 12, 2018
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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 (LED Green) |
| 6 | PE4 ( OC3B/INT4 ) | D2 (PWM) | In | Steering RC Pulse |
| 7 | PE5 ( OC3C/INT5 ) | D3 (PWM) | LED Blue | |
| 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) | Steering Center | |
| 16 | PH4 ( OC4B ) | D7 (PWM) | Backup (5V, Servo Enable) | |
| 17 | PH5 ( OC4C ) | D8 (PWM) | Out | Brake Solenoid |
| 18 | PH6 ( OC2B ) | D9 (PWM) | LED RED | |
| 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) | Steering Encoder A | |
| 24 | PB5 ( OC1A/PCINT5 ) | D11 (PWM) | Out | Steering Servo |
| 25 | PB6 ( OC1B/PCINT6 ) | D12 (PWM) | Out | Steering Encoder B |
| 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) | Backup (12V) | |
| 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 | ||
| 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 ADC |
| 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)