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Design of an ARM Based Micro Controller Circuit Board

Design of an ARM Based Micro Controller Circuit Board

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Categories:Types, Research
Published by: dinaero on Sep 28, 2010
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11/01/2011

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Design of an ARM based microcontrollercircuit board for the Amphibot II robot
EPFL - Semester Project27 June 2005Author : Alain DysliSupervisor : Alessandro CrespiProfessor : Auke Jan Ijspeert
 
Abstract
The Amphibot I robot was built in the purpose to mimic animal locomotion like the snake’sor lamprey’s. But the lack of independence due to weak microcontroller and bus performancehaven’t allowed the robot to be autonomous. The Amphibot II robot comes with a new, morespacious design that allow a more powerful microcontroller to be integrated.The Philips ARM LPC2129 is chosen to fulfill the increased demand in computational power inthis new robot. Along with the ARM more connectors appear on the circuit and the AmphibotII becomes a powerful and expandable robot. But designing the hardware parts doesn’t comealone and the software to control those new high performances functionalities must be written.The result is a powerful and expandable circuit that can handle several external devices andcommunicate with all the other circuit of the same kind through its high speed CAN bus. There-fore, the design isn’t bug free and some errors have still to be fixed.
 
Contents
3.1 Description of the ARM LPC2129 microcontroller. . . . . . . . . . . . . . . . . 53.1.1 The ARM primary functions. . . . . . . . . . . . . . . . . . . . . . . . . 53.1.2 General purpose input and output pins. . . . . . . . . . . . . . . . . . . 53.1.3 The analog to digital converter. . . . . . . . . . . . . . . . . . . . . . . . 63.1.4 Integrated UART. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.1.5 The CAN and I
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C buses. . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.2 Denomination of the circuit boards. . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1 The ARM’s electrical circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74.2 The PIC’s electrical circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94.3 The power supplies’ electrical circuits. . . . . . . . . . . . . . . . . . . . . . . . 94.4 The LEDs’ electrical circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.5 The I
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C’s electrical circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.6 The CAN’s electrical circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124.7 External connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.7.1 The PROG PIC connector. . . . . . . . . . . . . . . . . . . . . . . . . . . 144.7.2 The salam power connector. . . . . . . . . . . . . . . . . . . . . . . . . . 144.7.3 The Capteurs1 and Capteurs2 connectors. . . . . . . . . . . . . . . . . . 164.7.4 The PROG ARM connector. . . . . . . . . . . . . . . . . . . . . . . . . . 164.7.5 The I
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C bus connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184.8 The microcontroller’s printed circuit board. . . . . . . . . . . . . . . . . . . . . 184.9 General diagram of the system. . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1 In System Programming method. . . . . . . . . . . . . . . . . . . . . . . . . . . 225.2 Using the serial communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.1 The project’s bundled files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246.2 Initialization of the ARM’s primary functions. . . . . . . . . . . . . . . . . . . . 256.3 Accessing the LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256.4 Communicating via UART. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

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