User guide

Digilent Cerebot Plus Reference Manual Digilent, Inc.
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Pin Description *All Pmod headers can be used as general
purpose IOs or for the following specific purposes.
Cerebot Plus Pmod header pins to
Atmega64L ports / bit
JD SPI interface
The SPI interface on JD is used for synchronous serial
communication of host processor and peripherals or for a
connection of two processors. Master or slave modes are
selected as part of the software.
Serial port communications and interrupts
Asynchronous serial port, UART1, as well as the Atmel TWI
interface can be accessed on JD. These pins can also be
used as external interrupt sources.
Pin Function Port/ bit
1 SS PB 0
2 MOSI PB 2
3 MISO PB 3
4 SCK PB 1
5 GND
6 VCC
7 SCL/ INT0 PD 0
8 SDA/ INT1 PD 1
9 RXD1/ INT2 PD 2
10 TXD1/ INT3 PD 3
11 GND
12 VCC
JE H-bridge connection with input capture
This port can be used to provide multiple pulse width
modulated outputs to run motors. It can be used with
PmodHB3 or PmodHB5 modules to run up to two motors with
feedback encoding, or to run up to four motors without
feedback encoding.
1 T1 PD 6
2 OC1A PB 5
3 ICP1 PD 4
4 OC1B PB 6
5 GND
6 VCC
7 T0 PD7
8 OC2A PB4
9 XCK1 PD5
10 OC0A/OC1C PB7
11 GND
12 VCC
JF H-bridge connection with input capture
This port can be used to provide multiple pulse width
modulated outputs to run motors. It can be used with
PmodHB3 or PmodHB5 modules to run up to two motors with
feedback encoding, or to run up to four motors without
feedback encoding.
1 T5 PL2
2 OC5A PL3
3 ICP5 PL1
4 OC5B PL4
5 GND
6 VCC
7 PL6 PL6
8 OC5C PL5
9 ICP4 PL0
10 PL7 PL7
11 GND
12 VCC
JG H-bridge connection, interrupts, and on-board LEDs
Use this port to run two motors without encoder input, or a
motor with input sensing for a shaft encoder or other sensor.
All of the pins on this header give access to interrupt inputs,
providing flexibility for application development. JG can be
used as a motor controller or interrupt source. The onboard
LEDs also share pins with this connector.
1 T3/INT6 PE6
2 OC3B/INT4 PE4
3 CLKO/ICP3/I
NT7
PE7
4 OC3C/INT5 PE5
5 GND
6 VCC