1/10/20

009

THINKLA
ABS

UNIBOARDV
O
V1.1USERGUIDE
U

Liccensedb
by:

Openplatform
mforEmbeddedandRealTimeSyystemsP
Programm
ming |
TR
RITechno
osolution
nsPvt.Lttd.

ThinkLABS

TableofContents

Introduction............................................................................................................................................................5
PackageContents....................................................................................................................................................6
TestingtheBoard....................................................................................................................................................7
TestingtheBoardonWindowsOS...............................................................................................................................7
TestingtheBoardonLinuxOS....................................................................................................................................11
WhatyouneedforprogrammingtheBoard..........................................................................................................12
Hardwarerequirements..............................................................................................................................................12
Softwarerequirements...............................................................................................................................................12
Safetyandprecautionstobetaken............................................................................................................................12
Prerequisites..............................................................................................................................................................12
HardwareConnections..........................................................................................................................................13
Features................................................................................................................................................................14
BoardFeatures............................................................................................................................................................14
ControllerFeatures.....................................................................................................................................................15
SettinguptheBoardconfiguration........................................................................................................................16
BoardDescription.......................................................................................................................................................16
Atmega128controller.............................................................................................................................................16
Atmega8controllerwiththefirmwareforprogrammingthroughUSB.................................................................16
I2CandRTC(DS1307)withBackupBattery............................................................................................................16
Analogsensors(JoystickandLDR)..........................................................................................................................16
Buzzer......................................................................................................................................................................16
OnboardMotorDriver............................................................................................................................................16
Externalpower........................................................................................................................................................17
TestLEDs.................................................................................................................................................................17
TwoUART's.............................................................................................................................................................17
LCD..........................................................................................................................................................................17
PushButtons...........................................................................................................................................................17
SelectionSwitches..................................................................................................................................................17
GeneralPurposePORTS..........................................................................................................................................18
JumperSettings...........................................................................................................................................................19

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SoftwareInstallations...........................................................................................................................................22
SoftwareInstallationsforLinuxOS.............................................................................................................................22
TextEditor(GeditEditor)........................................................................................................................................22
InstallingGeditEditor:............................................................................................................................................22
GeditEditorPlugin(EmbeddedTerminal):............................................................................................................24
Compiler(avrgcc)...................................................................................................................................................29
avrlibc(StandardClibraryforAtmelAVRdevelopment):....................................................................................31
avrdude(softwareforprogrammingAtmelAVRmicrocontrollers):......................................................................33
Serialportterminal(Gtkterm)................................................................................................................................34
GtktermConfigurationsforsettingtheBaudrate,Parity,Stopbits......................................................................37
SoftwareInstallationsforWindowsOS......................................................................................................................39
WinAVR(Includesavrgcc,avrbinutils,avrdude)...................................................................................................39
InstallingUSBdriversforuNiBoard.........................................................................................................................44
ProgrammingtheBoard........................................................................................................................................48
GettingStartedonLinux.............................................................................................................................................48
GettingStartedonWindows......................................................................................................................................62
TextEditor(programmersNotepad).....................................................................................................................63
CompilethecodeandprogramtheboardonWindows(CommandPrompt).......................................................67
Usinghyperterminalofwindows...........................................................................................................................75
GettingStartedwithRTOS(uC/OSII)onWindowsOS...........................................................................................79
uC/OSIIHardwareandSoftwareArchitecture...........................................................................................................79
Code,CompileandprogramtheRTOS(uC/OSII)programsonLinuxOS..................................................................80
Code,CompileandprogramtheRTOS(uC/OSII)programsonWindowsOS............................................................89
Troubleshooting..................................................................................................................................................112
Makeutility...............................................................................................................................................................112
LEDs...........................................................................................................................................................................112
UART..........................................................................................................................................................................112
LCD............................................................................................................................................................................112
Joystick......................................................................................................................................................................112
LDR............................................................................................................................................................................113
ExternalInterrupts....................................................................................................................................................113
RTC............................................................................................................................................................................113
SPI..............................................................................................................................................................................113

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Motordrivers............................................................................................................................................................113
WhatyoucandowiththeuNiBoard....................................................................................................................114
Addons..............................................................................................................................................................118
SD/MMCcardInterface........................................................................................................................................118
EthernetInterface.................................................................................................................................................118
uNiBoardv1.1Schematic....................................................................................................................................119
Controllersection:ATmega128pinconnections......................................................................................................119
Buzzersection...........................................................................................................................................................120
Joystickandconnectorssection................................................................................................................................120
LCDsection................................................................................................................................................................121
LDRsection................................................................................................................................................................121
LEDssection..............................................................................................................................................................121
MotorDriversection.................................................................................................................................................122
Powersupplysection................................................................................................................................................122
RTCsection................................................................................................................................................................122
Sensorportsection...................................................................................................................................................123
Switchessection........................................................................................................................................................123
UARTsection.............................................................................................................................................................123
USBprogrammersection(Courtesy:http://www.fischl.de/usbasp/)......................................................................124
Licensingterms...................................................................................................................................................125
BillofMaterials(BOM):.......................................................................................................................................126
AppendixAReferences.....................................................................................................................................128
AppendixBServicesandSupport......................................................................................................................129

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Introduction

TheuNiBoardversion1.1isanidealopensourcedevelopmentplatformforEmbeddedandReal
TimeSystemsProgramming.PoweredbyaRISCmachine(ATMega128)thatprovidesathroughput
of16MIPSandupto128KBofinternalstorage(flash),theboardwouldbesuitableforanysortof
embeddedapplicationdevelopment.
Onboard peripherals like Joystick along with the communication ports (RS232) and the Gtkterm
driver (hyperterminal for Windows) make the board apt for basic game development in an
Embedded (nonOS) as well as OS based environment. RT Kernels with small footprint (uC/OSII,
FreeRTOS,nutOS)canbeportedontheboardtogainhandsonexperienceofRealtimeapplication
design.
TheboardispoweredbytheUSBport.TheboardisalsoprogrammablethroughUSBportthereby
makingitcompletestandalonelabequipmentneedingnothingapartfromabasicPC/laptoptoget
startedwiththedevelopmentprocess.Theopeninterface(openLEDinterface,openports)extend
the platforms role for prototyping applications like external device/sensor interfacing. The
controller by itself supports protocols like SPI, I2C (onboard I2C based RTC), UART (dual
programmableUART)whichcanbeusedformultiboardcommunication.
Additionally,theboardalsofeaturesanonboardmotordriverwhichallowstocontroluptotwo
DC motors bidirectionally. External supply, if required for the motors can be provided with
appropriatehardwareconfigurationsettings.
The board along with its contentrich user manual is a perfect companion to have for
hobbyists/aspirants seeking a career in Embedded software design, since it can accommodate
preliminary applications like port control or sensor data processing built on Embedded C to
complexrealtimeapplicationsbuiltonRTOSlikeDAS(DataAcquisitionSystems),embeddedweb
server,FATFSforembeddedsystemsandmore.
We plan to adhere to the Creative Commons license (Refer licensing terms), which has the
philosophyofShare,Remix,ReuseLegally.Itmeansthatanyoneisallowedtoproducecopies
oftheboard,toredesignit,oreventosellboardsthatcopythedesign.Youdontneedtopaya
licensefeetotheThinkLABSteamorevenaskpermission.However,ifyourepublishthereference
design, you have to credit the original group. And if you tweak or change the board, your new
designmustusethesameorasimilarCreativeCommonslicensetoensurethatnewversionsofthe
boardwillbeequallyfreeandopen.

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PackageContents

TheuNiBoarddevelopmentplatformwiththeperipheralslistedbelow

uNiBoarddevelopmentboard1unit

16x2LCD1unit

Serialcable(DB9)1unit

USBcable1unit

FRCconnectorcables2units

CDconsistingofuNiBoardusermanual(basedonLinux(Ubuntu)/Windows),essentialsoftware
packagesandsamplecodes(RTOS/nonOSapplications)1unit

Pouchforstorage1unit

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TestingtheBoard

Thissectionliststheproceduretotesttheboard.ToenableyoutoquicklytesttheBoard,itcomeswitha
testprogramloaded.So,makesureyoufirsttesttheboardbeforeanyprogramming.
Ifyouhaveprogrammedthecontrollertherebyerasingthetestprogramfromtheflashorincaseyoufind
thatthesampleprogramhasnotbeenloaded(whichwouldbeararecase)thenyouneedtoloadthetest
programontotheboard(refertothesectionProgrammingtheBoard).ThetestprogramisprovidedonCD
uNiBoard Contents directory (inside sample codes). This code tests the boards peripherals (LCD, UART,
LEDs,Buzzer,andJoystick).

TestingtheBoardonWindowsOS
FollowthestepstoconfirmiftheuNiBoardisOK.
STEP1:ConnecttheLCDontheBoard(refertosectionHardwareconnections).
STEP2:UseFRCcabletoconnectopenLEDportandPortC.
STEP3:UsingtheserialcableconnectuNiBoardtothePC.
STEP4:IfyouareusingWindowsOSthenyouneedinstalltheUSBdriversfortheuNiBoardonce(referto
thesectionSoftwareInstallation>>SoftwareInstallationforWindowsOS>>InstallingtheUSBdriversfor
uNiBoard).
STEP5:UsingtheUSBcableconnecttheuNiBoardtothePC.
STEP6:TurnONtheBoardoncethedriversareinstalledcorrectly.
STEP7:OpentheSerialterminalandsetthebaudrateto115200,paritytonone,andstopbitsto1.Soclick
onStart>>programs>>Programs>>Accessories>>Communications>>hyperterminalasshownbelow.

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STEP8:SelectFilemenu>>NewConnectionthenEnterNameforconnectionandclickOK.

STEP9:SelecttheCOMPortwhereyouhaveconnectedtheserialcable.

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STEP10:Selectthesettingsasgivenbelowforthistestprogram.

STEP11:SelectApplyandthenOK.

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STEP12:TurnONtheBoard.
STEP13:ThetestprogramthatwehaveloadeddemonstratesSNAKEgameonanyserialterminalwhichis
VT102compatible.IfeverythingiscorrectlyinstalledyoushouldbeabletoseeagameofSNAKE(modified)
aswellasplayusingtheJoystick.
WhiletheprogramisrunningyouwillalsobeabletoseetheSCOREbeingdisplayedontheLCDalongwith
theversionoftheuNiBoardthatyouarecurrentlyusing.WhiletheSNAKEeatsupfoodyouwillbeableto
hear the buzzer. Every time a new food is generated you will see the LEDs glowing thereby utilizing all
uNiBoardperipherals.

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TestingtheBoardonLinuxOS
FollowthestepstocheckwhetherornottheuNiBoardisworkingproperlyonLinuxOS
STEP1:Step1toStep3issameasgivenintheWindowsOSprocedure.
STEP2:TurnONtheBoard.IfyouarewonderinghowtoinstalltheUSBdrivers,youdontneedtodothatat
allsinceLinuxkernelhasthosedriversinbuilt.
STEP3:OpentheGtkterm(refertothesubsectionInstallingSoftwareforLinuxOS).
STEP4:ConfiguretheGtktermtobaudrate/speedto115200,paritytonone,andstopbitsto1(refertothe
subsectionGtktermConfigurationsforsettingtheBaudrate,Parity,Stopbits).
STEP5:TurnONtheBoard.
STEP6:Outhereaswellyoushouldbeabletodothings(likeplayingSNAKEonGtkterm)thathavebeen
listedinSTEP13.

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WhatyouneedforprogrammingtheBoard
Hardwarerequirements

uNiBoardversion1.1alongwithUSBcable

Serialcable(optional)

FRCCable(optional)

Softwarerequirements

TextEditor(GeditonLinux/ProgrammersNotepadonWindows)

Toolchain(avrgcc,avrbinutils,avrdude):Installationprocedureisexplainedintheupcoming
sections

Serialterminal(GtktermonLinux/hyperterminalonwindows)

Driverforusbasp(Windowsrequiresexplicitinstallation)

Safetyandprecautionstobetaken

Donotusetheexternalpowersupplymorethan15V.

BoardandSMDswitchesshouldbehandledwithcare.

Fusesettingsofthetarget(microcontroller)shouldbemodifiedonlywithappropriate
knowledge,sincelockingthefusesectionmightrendertheboarduseless.

DonotprogramtheBoardwhileyouareusingSPIlinesforcommunicationwhichmightalso
rendertheboarduseless.

Prerequisites

Beforeyoustart,youareexpectedtohavesomeknowledgeofAVRmicrocontrollersandits
softwaretoolsuptoapreliminarylevel.WehavenotdiscussedtheAVRarchitecture(Datasheet
isthebesthelponthesame.ithasbeenincludedintheCDcontents)

TheboardguidedoesnotgiveanyconceptualknowledgewithregardstoRTOS.Forbestresults,
youareexpectedtohaveareferencematerialontheRTOSthatyouaregoingtouseonthe
board.IncasethetargetRTOSisuC/OSII,youneednotlookbeyondMicroC/OSII,TheReal
TimeKernelbyMr.JeanLabrosse.

AllthesamplesexamplesbasedonRTOSincludingtheSNAKEapplicationthatyoumusthave
justseenwhiletestingtheboardutilizethesameRTOSkernel(i.e.:uC/OSII)

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HardwareConnections

8LEDs

RTCBackup
battery
RTC

SW4,SW3,
SW2,SW1
switchi/ps

UART0
Resetswitch

Test
LEDs
PORT

Motor2

FRC
Cable

Buzzer
beneath
Controller

Motor1

PORTC

ExtPower
Connector
USB
programmer

JTAG
PORT

USB
Port

ADC
PORT

LCD
connector

8Sensor
inputs

SerialPort
(UART1)

8GND
lines
8VCC
lines

Joystick LDR
Joystick/Ext.ADC
PORTG
switch
connector

4SPI
Lines
USBpower
LDR
switch
Jumper

Programming
Program
connectorfor

Enable/UART0
USB
Selection
programmer
Programming
switch
Jumper

TheuNiBoardversion1.1connectstothePCusingUSBport.Asshowninthefigure1.1ontheboardthereis
aserialportandUSBportconnectors.TheserialportisusedfordebuggingpurposewhileUSBportisused
forpowerandburningthehexfilesintoATmega128microcontroller.
TheUSBcable(forpower/programmingpurposes)andserialcablecanbeinterfacedwiththePC.Theserial
cableisoptionalaswearenotusingitforprogrammingthehexfileintotheAtmega128chip.ForanyUART
relatedactivitieshavingtheserialcableisamust.

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Features
BoardFeatures

ATmega128controllerwithexternalcrystalof16MHZ

usbasp:ATmega8basedUSBprogrammerforATmega128(opensourcefirmwarerunningon
hardwarelicensedunderGNUGPLv2fromhttp://www.fischl.de/usbasp)

I2Ccommunicationlines

SPIcommunicationlines

16x2alphanumericLCDwithcontrastadjustment

RTCwithBackupBattery

AnalogJoystickwithcentreclick

LDRsensor

Buzzer(beneaththeprocessorboard)

OnboardMotorDriver(L293D)

LEDsforUSBprogrammerreadyindicator,Programmingstatusindicator,andPowerON
indicator

TestLEDs(openforinterfacewithanyPORT)

OpeninterfacePortssuchasPORTF/ADC,PORTC

JTAGinterface(ExternalJTAGhardwarerequired)

USBPortforprogrammingtheBoard

DualprogrammableUARTs

PushButtonsforExternalInterrupts,Reset

ConfigurationSwitchesforUSBPower/Externalpower,ExternalADC/JoystickandProgram
Enable/UART0

Modulardesigntopermitreplacementofprocessorboard

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ControllerFeatures
ThefeaturesofAtmega128areasfollows:

AdvancedRISCArchitecture

128KBytesofInSystemSelfprogrammableFlashprogrammemory

4KBytesEEPROM

4KBytesInternalSRAM

JTAG(IEEEstd.1149.1Compliant)Interface

Two8bitTimer/CounterswithSeparateprescalerandCompareModes

TwoExpanded16bitTimer/CounterswithSeparateprescaler,CompareModeand

CaptureMode

RealTimeCounterwithSeparateOscillator

Two8bitPWMChannels

6PWMChannelswithProgrammableResolutionfrom2to16Bits

8channel,10bitADC

ByteorientedTwowireSerialInterface

DualProgrammableSerialUSARTs

Master/SlaveSPISerialInterface

ProgrammableWatchdogTimerwithOnchipOscillator

PoweronResetandProgrammableBrownoutDetection

ExternalandInternalInterruptSources

SixSleepModes:Idle,ADCNoiseReduction,Powersave,Powerdown,Standby,andExtended
Standby

SoftwareSelectableClockFrequency(usingFusebits)

53ProgrammableI/OLines

4.5V5.5VforAtmega128OperatingVoltages

64leadTQFP

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SettinguptheBoardconfiguration
BoardDescription
Atmega128controller
The ATmega128 is a lowpower 8bit microcontroller based on the AVR enhanced RISC architecture. The
AtmelATmega128isapowerfulmicrocontrollerthatprovidesahighlyflexibleandcosteffectivesolutionto
manyembeddedcontrolapplications.

Atmega8controllerwiththefirmwareforprogrammingthroughUSB
USBasp is a USB incircuit programmer for Atmel AVR controllers. It simply consists of an ATMega8 and a
couple of passive components. The programmer uses a firmware (USB driver) to program Atmega128
microcontroller.FormoreinformationonbuildingUSBaspreferhttp://www.fischl.de/usbasp.Itisanopen
sourcefirmwarealongwithhardwarelicensedunderGNUGPLv2.

I2CandRTC(DS1307)withBackupBattery
TheDS1307serialrealtimeclock(RTC)isalowpower,fullbinarycodeddecimal(BCD)clock/calendarplus
56 bytes of NV SRAM. Address and data are transferred serially through an I2C, bidirectional bus. The
clock/calendar provides seconds, minutes, hours, day, date, month, and year information (Compensation
Validupto2100).Nospecialhardwareconfigurationisrequiredasitismountedonourboardandinternally
connectedtotheprocessorspins.

Analogsensors(JoystickandLDR)
TheJoystick(AnalogjoystickusedinPS2consoles)isconnectedtotheADC,Xaxisonchannel1(PF1)andY
axisonchannel2(PF2)oftheAtmega128microcontroller.TheLDRsensorisconnectedtochannel0(PF0)of
theAtmega128microcontroller.

Buzzer
TheBuzzerisconnectedtoPA3oftheAtmega128microcontroller,andliesbeneaththeprocessorboard.

OnboardMotorDriver
TheMotordriverchip(L293D)isusedtodrivethemotorswhichcanbeconnectedtothePTRconnectorsas
shownintheabovefigure.Throughsoftwareyouneedtoconfigureasfollows:
PB6andPB5

(MOTOR1)

PE2andPE3

(MOTOR2)

PB4(CHIPENABLE)
Therearemotorswhichmightneedhigherthan5V(upto12V)operatingvoltage.Insuchcasesanexternal
supply can be given to the board and the USB power switch can be toggled to make the external supply
availableinsteadofaUSBpoweredconnection.

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Externalpower
The external power connector in the above figure can also be used for connecting rechargeable batteries
andmakingtheboardoperateonbatterypowerincaseofroboticorothersuchmobileapplications.

TestLEDs
TestLED'sarepulledupsotoglowtheLEDsweneedtomaketheparticularportpinLow.Youcanconnect
theGeneralPurposePORTtotestLEDPortusingFRCCable.

TwoUART's
UART1isusedtoconnectPCthroughtheMAX232voltageconverterchipsincepcusesRS232standardfor
serialport.UART1canbeusedfordebuggingthecodeorforanysortofinteractionwithGtkterm.
UART0isnotconnectedtoMAX232asitisleftopenforcommunicationbetweentwoBoards.

LCD
LCDforuNiBoardisusing4datalines,2controllinesandWRofLCDisconnectedtoGND.
DATALINES(PA4,PA5,PA6,PA7)
CONTROLLINES(PA0forRS,PA2forLCDEN)

PushButtons
ExternalInterrupts
SW3(INT6)
SW4(INT7)
GeneralPurposeswitch
SW1(PD6)ActiveLow
SW2(PD7)ActiveLow
ResetSW

SelectionSwitches
USBPower(Pressed)/Externalpower(Depressed)
Joystick(Pressed)/ExternalADC(Depressed)
ProgramEnable(Pressed)/UART0(Depressed)
The most important part of board configuration is the configuration switches. More often than not,
programmingerrorsorabnormalprogramresponseandexecutionareduetofaultyconfigurationof
theswitches.So,whileprogramming,orusingADC,orexternalpowersupplyorbatteryorwhileusing
UART0 make sure you have first set the configuration switches in the correct position before
concludingthatyourprogramisnotworkingortheboardisfaulty.

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ThinkLABS

USBPower(Pressed)/Externalpower(Depressed)
RefertotheuNiBoardfigurewherethecomponentshavebeenlabeledtounderstandwherethese
switches are physically placed on the board. While you have connected the uNiBoard cable for
programmingpurposesorforpoweringtheboardthisswitchshouldbeinthepressedposition.
Whileconnectinganyexternalpowersupplyorbattery,thisswitchshouldbeindepressedposition.
Thismakesthe7805voltageregulatorcomeintopicturetoprovide5VpowersupplyfortheICs.
Joystick(Pressed)/ExternalADC(Depressed)
While you are using the analog joystick you are using the internal ADC of the controller which is
availableatPORTF.TheLDRwhichisanotheranalogsensorisalsoconnectedatPORTF.Makesure
thatthisswitchisinpressedpositionwhilethejoystickisbeingused.
IncaseyouwanttousetheopeninterfacepinsofthePORTF,inordertoconnectexternalanalog
sensors or digital sensors (refer labeled figure of uNiBoard), change the switch position to
depressed.ThereisanotherjumpersettingwhichyouwouldneedtodoinordertotaketheLDRout
ofthecircuit.Thisconfigurationwillbediscussedwhilediscussingjumpersettings.
ProgramEnable(Pressed)/UART0(Depressed)
While programming the board this is one switch that you should never forget to press, failing which
avrdude(programmingsoftwarewillflashanerrorsayingtargetnotfound.
Once programming has been completed in order to gain access to UART0 you will need to keep the
switchinthedepressedposition,sincetheUART0pinsaremultiplexedwiththeprogrammingpins.

GeneralPurposePORTS
PORTC
PORTCisanopeninterfaceportwhichcanbeusedtoconnectanydevicesonFRCconnector.
PORTF(Joystick/LDR/Externalsensors)
PORTFcanbeusedtoconnectexternalanalogordigitalsensorsoritcanalsobeusedasJoystickorLDRADC
channels.TherearetwoconnectorsFRCconnectorandBergsensorportconnectoreitherofwhichcanbe
used to connect the external sensors. The Berg sensor port connector is compatible with our TRI sensors.
Youcanvisittowebsiteathttp://www.thinklabs.in/resources/tocheckoutTRIsensorsandyoucanbuyat
http://www.thinklabs.in/shop/.
PORTG
PORTGisanopeninterfaceportwhichcanbeusedtoconnectanydevicesonbergconnector.
PORTCandPORTF
ThePORTCandPORTF(ADC)areopenportsandcanbeconnectedtotestLEDsthroughFRCcable.Thesecan
beaccessedusing10pintheFRCconnector.

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ThinkLABS

ThepindiagramofAtmega128isgivenbelowalongwiththemannerinwhichwehaveutilizedtheportpins
incaseofuNiBoard:

Joystick/LDR/Ex
ternalsensors

LCDRS LCDEN

UART0

LCD
DATA

MOTOR2

PORTC
(Open
Interfaceon
FRC
connector)

SPI
lines
MOTOREN
MOTOR1

16MHz
Crystal

I2C UART1
(RTC) (Max232)

JumperSettings
Apartfromtheconfigurationswitchesdiscussedabovethejumpersettingsisanothersourceofarrivingto
wrongconclusionsprovidedthattheyhavenotbeensetcorrectly.
TherearetwojumpersontheboardoneforprogrammingorSPIjumperandotheroneforLDRorExternal
ADCselection.Asshowninthefigurebelow:

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ThinkLABS

Joystick/External
sensorSelection

USBPower
Selection

4SPI
Lines
LDR
Jumper

Programming
Jumper

ProgramEnable
/UART0Selection

LDRjumper
Youcanusethemasperyourapplicationrequirements.Incaseyouareconnectingexternalsensorsatthe
sensorport,youwillneedtochangethepositionoftheLDRjumpersoastodisassociateitfromthecircuit
asshownbelow:

PositionofjumperwhileusingLDRsensor

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ThinkLABS

WhileconnectingexternalsensorsattheopeninterfaceofPORTF,thisjumperpositionshouldbechangedto
thealternatepositionasshownbelow:
Positionofjumperusingexternalanalog
sensors

Programmingjumper:
Theprogrammingjumperhastoberetainedinthepositionshownbelowunderallcasesexceptwhenusing
theSPIcommunicationlines.
PositionofjumperwhileusingLDRsensor

WhileusingtheSPIcommunicationlinesthejumpercanbeeitherremovedorplacedintheadjoiningpins
providedwhichisNC(NoConnection),asshownbelow.Thelatterisasaferoptiontoensurethatyoudonot
misplacethejumper.

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ABS

Softw
wareIn
nstallattions
Softw
wareInsta
allationsforLinux
xOS
Theproccedurethat wearediscu
ussingforUb
buntuLinuxinvolvesdow
wnloadingpaackagesthro
oughthesynaptic
manager.Henceyou
uneedtohaaveanintern
netconnectio
oninplaceb
beforeyoubeeginwiththiis.Ifnotgethold
bor*.rpmpaackagesofth
helistedsoftwareandinsstallitonyoursystem.
of*.deb
Thefollo
owingsectiondescribesttheinstallatiionofthesoftwarepackaagesonUbu
untuLinux.

TextE
Editor(GeeditEditor)
TheGed
dit(textedito
or)mightbeinstalledalreadyonyoursystem,sin
nceitsthedefaulttexte
editorprovided
bythed
distribution.IIfyoufindth
hatitismissingyoucanffollowthebeelowmentionedsteps.

InstalllingGedittEditor:
STEP1:Opentermin
nalandtype::sudoaptitudeinstallgeditandpressenter

STEP2:Enterrootpassword.

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ABS

STEP3:Itwillshowaalistofalldeependenciessinstalledasshownbelo
ow

STEP4:PressALT+FF2andtypegeditandprressentertoopentheGeeditapplication

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ABS

STEP5:TheGeditap
pplicationwiillopen

GeditEditorPlu
ugin(Em
mbeddedT
Terminal)):
TheEmb
beddedTerm
minalisaged
ditpluginwh
hichfitsaterminalintheegeditwindo
owthroughw
whichwecan
executeLinuxcomm
mands,compileprogramusingtheMA
AKEutilityan
nddownload
ditontoourrchip
NOTE:C
Closeallgeditapplication
n.
STEP1:Opentermin
nalandtype::sudoaptitudeinstallgeditpluginsandpresseenter

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ABS

STEP2:Enterrootpassword.
STEP3:Itwillshowaalistofalldeependenciessinstalledasshownbelo
ow

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ABS

STEP4:PressALT+FF2andtypegeditandprressentertoopentheGeeditapplication

STEP5:TheGeditap
pplicationwiillopen.

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ABS

STEP6:TheningediitopenEditm
menu>prefeerencesandgotopluginsstab
STEP7:SelectEmbeeddedTermiinalandpresssclosebutto
on.

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ABS

STEP8:GototheViewmenuan
ndselectBotttompane

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Compiiler(avrggcc)

STEP1:Opentermin
nalandtype::sudoaptitudeinstallgccavrandpressenter

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STEP2:Enterrootpassword.
STEP3:Itwillshowaalistofalldeependenciessinstallassh
hownbelow.

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bc(StandaardClibrraryforAttmelAVR
Rdevelopm
ment):
avrlib
STEP1:Opentermin
nalandtype::sudoaptitudeinstallavrlibcandpressenter

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STEP2:Enterrootpassword
STEP3:Itwillshowaalistofalldeependenciessinstallassh
hownbelow

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avrdude(softw
wareforprrogramm
mingAtmeelAVRmiccrocontro
ollers):
STEP1:Opentermin
nalandtype::sudoaptitudeinstallavrdudeand
dpressenterr

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STEP2:Enterrootpassword
STEP3:Itwillshowaalistofalldeependenciessinstallassh
hownbelow

minal(Gtk
kterm)
Serialportterm

TheGtkttermisanalo
ogoustoWin
ndowsHyperrTerminalwh
hichisusefulforserialco
ommutationsbetweenP
PC
anduNiBoard.ItisaaVT102compatibleseriaalterminal.
STEP1:Opentermin
nalandtype::sudoaptitudeinstallgtktermandpressenter

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STEP2:Enterrootpassword.
STEP3:Itwillshowaalistofalldeependenciessinstalledasshownbelo
ow.

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STEP4:PressALT+FF2andtypegtktermand
dpressenterrtoopentheeGtktermap
pplication

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GtkterrmConfiggurationsforsettin
ngtheBau
udrate,Paarity,Stop
pbits
STEP1:PressALT+FF2andtypegtktermand
dpressenterrtoopentheeGtktermap
pplicationand
dclickonRu
un

nuandchoosePort
STEP2:GotoConfiggurationMen

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ort:/dev/ttyyS0ifyouhavveconnected
dtotheseriaalcommuniccationport,iifnotchangeethe
STEP3:SelectthePo
Port.
STEP4:SelecttheSp
peedtotheB
Baudrateassperinyourcode,youhaaveconfiguredfortheUA
ART.
STEP5:SelectthePaarityasperinyourcode,,youhaveco
onfiguredfortheUART.
STEP6:SelecttheSttopbitsaspeerinyourco
ode,youhave
econfigured
dfortheUAR
RT.
STEP7:SelecttheBiitsasperinyyourcode,youhaveconfiguredfortheUART.
STEP8:SelecttheFlowcontrolttonone.
STEP9:ClickonOK

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wareInsta
allationsforWind
dowsOS
Softw
WinAV
VR(Includesavrggcc,avrbiinutils,av
vrdude)
Copytheesoftwarep
packagesfromtheuNiBo
oardcontenttsonCDord
downloadlatestversion ofWinAVR from
websitegivenbelow
w:
http://w
winavr.sourceeforge.net/
Afteryouhavethisp
packagefollo
owthestepssgivenbelow
w:
Step1:R
Runthefilettoinstalltheepackage.

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Step2:SelectthelanguageandpressOK.

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Step3:clickonNext

Step4:ClickonIAgree

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Step5:TypethedestinationFolderwhereyouwanttoinstallWinAVRandclickonNext.
Step6:Checkonalli.e.Installfiles,AddDirectoriestopath,andProgrammersNotepadandclickonInstall.
Step7:Itwilldisplayasshownbelowandthenclickonfinish

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InstallingUSBdriversforuNiBoard
STEP1:InserttheuNiBoardUSBcabletoPC.
STEP2:Ifthedriversarenotinstalledthenitwilldisplaytheinstallationwizardasshownbelow.

STEP3:Selecttheoptionsasinstallfromalistorspecificlocation(Advanced)andclickonnext.Itwilldisplay
optionsasshownbelow

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STEP4:ClickonBrowseandselectthedriversfromtheCDUNIBOARDCONTENTSdirectorypathas
\UNIBOARDCONTENTS\UNIBOARD_DRIVERS\WINDOWS\usbaspandclickonOK

STEP5:ClickonNext.

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STEP6:GivethesamepathofdriversandclickonOK

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STEP7:ClickonFinish.

AfterthedriversareinstalledyouarereadytoprogramtheBoard.

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Prog
grammingthe
eBoard
d
NOTE:R
Refertotheabovesectio
onstocheckthatyouare
ehavingalltherequiredsoftwaretoo
ols.

Gettin
ngStartedonLinu
ux
For proggramming th
he Board yo
ou must firsst have the hex file to be loaded in
nto the flash section off the
microco
ontroller. Forr generating the hex filee you have to
t write an error free code, compile your codee and
compilerwillgeneraatehexfile. Thenusing USBaspfirm
mwareonAtm
mega8micro
ocontrolleryyoucanproggram
theAtmega128micrrocontroller.
Thefollo
owingsectionwillguideyyouonhowtoprogram usinguNiBoard.
1. Wewillwriteaffirstprogram
mtotestLEDs.
AsyyouknowLEDscanbeco
onnectedvaarioustestPO
ORTsonUNiBoardusinggFRCcable (refertochaapter
5),w
wewilluseth
heGeneralp
purposePOR
RTCasoutputandconnecttheFRCcaablebetweenPORTCand
dthe
LEDPORT.
STEP
P1:OpenGeedit(referto
ochapter3)

STEP
P2:CreateaaProjectdireectory

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STEP
P3:SavetheeFileasXfileename.c

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STEP
P4:CopytheeMakefile(N
NOTE:MakeeistheUtilityywhichcallssallthecompilerrelatedoptionswhiich
areinscriptfilecalledasMaakefile)inyourworkingp
projectdirecttory

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STEP
P5:Writeyo
ourcode.

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STEP6:Savethefile
STEP7:EdittheMakefileinthisfilechangeTARGET=Xfilename(withnoextensionsandnoquotes()).
Ifyouputanyextensionsitwontwork.
NOTE:Xfilenameindicatesanyfilenamethatauserwilluse.

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STEP
P8:SavetheeMakefile.
STEP
P9:OnLinuxxbasedsysteems,youcan
nuseoneofthemakefileesofthesam
mplecodesm
markedas
Makkefile_LINUX
XbyrenamingittoMakeffile,failingw
whichyouwillgetanerro
orsayingNo
oruletomakke
targget.Stop.
STEP
P10:OntheEmbeddedtterminalgottotheProjecctdirectoryaandtype:maakeclean(thiswillremovveall
thepreviouslyco
ompiledfilessintheprojeectdirectoryy).

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STEP
P10:Type:m
makeall(thisswillcompileethesourcefileandgen
neratehexfileifthereare
enoerrorsin
codee).

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STEP
P11:type:m
makeprogram
m(thiswillb
burnthehexintothemiccrocontrollerr)

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1.1.

ChangingtheFusesettin
ngs
NOTE:Theffusesettingmustbechaangedonlyiffrequired.
TheATmegaa128hasthreeefusebytesreferredassHighFuseB
Byte,LowFuseByteandExtendedFu
use
Byte.ReferttheATmega1
128datasheetforinform
mationonwh
hatthefusebitsare.Toccutthingsshort,
Fusebitscon
nfigurevario
ousoptionslikeEEPROMSAVE,ProgrrammingEnaable,ClockSpeed,Oscillaator
startuptimee,clocksourcceetc.

Thefollowin
ngTablereprresentsExten
ndedFuseByyte:
ExtendedFu
useByte BITNo.

Description

DefaultValue

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M103C

Atmega103compatibilitymode

0(programmed)

WDTON

WatchdogtimerisalwaysON

1(unprogrammed)

ThefollowingTablerepresentsHighFuseByte:
HighFuseByte

BITNo.

Description

DefaultValue

OCDEN

EnableOCD

JTAGEN

EnableJTAG

SPIEN

Enableserialprogrammingand
datadownloading

1(unprogrammed,
OCDdisabled)
0(programmed,
JTAGenabled)
0(programmedSPI
prog.enabled)

CKOPT

Oscillatoroptions

1(unprogrammed)

EESAVE

EEPROMmemoryispreserved
throughchiperase

BOOTSZ1

SelectBootSize

1(unprogrammed,
EEPROMnot
preserved)
0(programmed)

BOOTSZ0

SelectBootSize

0(programmed)

BOOTRST

SelectResetVector

1(unprogrammed)

ThefollowingTablerepresentsLowFuseByte:
LowFuseByte

BITNo.

Description

DefaultValue

BODLEVEL

Brownoutdetectortriggerlevel

1(programmed)

BODEN

Brownoutdetectorenable

SUT1

Selectstartuptime

1(programmed,
BODdisabled)
1(unprogrammed)

SUT0

Selectstartuptime

0(programmed)

CKSEL3

SelectClocksource

0(programmed)

CKSEL2

SelectClocksource

0(programmed)

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CKSEEL1

Sele
ectClocksou
urce

0(programmed)

CKSEEL0

Sele
ectClocksou
urce

1(unprogrrammed)

TheMakeuttilityallowsp
programmingthefusebits.Thefollo
owingproced
durewillhelp
pyouconfigu
uring
thefusebitss.
STEP1:OnEEmbeddedteerminaltypeemakereadffuses(Thisw
willreadtheffusesettingccurrentlypre
esentonthe
board)assh
hownbelow.

Theoutputw
willbedisplaayedasshow
wnbelow:

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ndEFUSEarethe
STEP2:EdittheMakefileeasshownintheabovepictureasperthefusessetting(HFUSSE,LFUSEan
labelstobeedited)thatisrequired.
STEP3:OnEEmbeddedteerminaltypeemakefuses(Thiswillreadthefusessettingcurreentlypresenttontheboarrd)
asshownbeelow.
NOTE:DON
NOTMESSW
WITHTHEFUSSEBITSUNLEESSYOUAREEVERYSUREEOFWHATEEFFECTITWOULDHAVE,
FAILINGWH
HICHTHEPRO
OGRAMMEMORYMIGH
HTBELOCKEEDFORWRITTING.

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STEP4:Agaiinontheem
mbeddedterm
minaltypem
makereadfusestoverifytthatfusebithavebeenssaved.

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difiedsuccesssfully.
Asshownbeelowthefuseesettinghavvebeenmod

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Gettin
ngStartedonWin
ndows
Thesam
mpleprogram
mshavebeen
ngivenintheeCDfoldern
named
\UNIBO
OARDCONTENTS\UNIBO
OARD_SAMPLE_CODES\N
NON_RTOS\and
\UNIBO
OARDCONTEENTS\UNIBO
OARD_SAMPLLE_CODES\R
RTOS
Oryouccandownloaditfromourwebsiteatlinkhttp://thinklabs.in/d
download/

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TextEditor(programmersNotepad)
Step1:SelectProgrammersNotepadfromStartmenu>Programs>Winavr>ProgrammersNotepad.

Step2:Typeyourcodehereandsavethefileasshownbelow:

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STEP3:Savethefileasanyfilename.c

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STEP4:Youcanviewthelinenumbersbyselectingviewmenu>LineNumbers.

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CompilethecodeandprogramtheboardonWindows(CommandPrompt)
STEP1:OpenthecommandpromptbyselectingStart>Runandtypecmd

STEP2:ItwilldisplaytheCommandpromptandgotoyourprojectdirectory.

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STEP3:YoumusthavetheMakefileinyourprojectdirectory.Incaseofwindowsyouwouldfindafile
namedMakefile_WINDOWS,whichyoucanrenameasMakefile.Makesurethatyouhaveonlya
singleMakefileinyourworkingdirectory.
STEP4:EdittheMakefileandsetTarget=filenameofyourCfileandsavethefile.

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STEP5:Incommandpromptwindow,typecommandasmakecleanandpressenter

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STEP6:Thiswillremoveallpreviouslyfilescreatedduetocompilationasshownbelow:

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STEP7:typemakeallandpressenter

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STEP8:ThiscommandwillcompilethefileandgenerateaHexfile.Typedirandpressenterandcheckif
therehexfilegeneratedasshownbelow.

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STEP9:Forloadingthecompiledoutputtotheboardtheboardi.e.burningthehexfileintotheAtmega128
typecommandasmakeprogram.

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STEP10:pressenter

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Usinghyperterminalofwindows
STEP1:RunHyperTerminalstartmenu>allprograms>accessories>Communications>HyperTerminal.
STEP2:Typenameformakenewconnection

STEP3:Selecttheserialport(usuallyitisCOM1)

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STEP4:SelecttheBaudrate(9600),Databits(8bits),parity(none),stopbits(1),andflowcontrol(none)as
shownbelow.

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STEP5:YoucanevensavethisconnectionfromFile>savesothatyouneednotsetallthesettingsagain.

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GettingStartedwithRTOS(uC/OSII)onWindowsOS
uC/OSIIHardwareandSoftwareArchitecture
BeforestartingofwiththeuC/OSIIprogrammingyouneedtoknowitsfilestructurei.e.howtheuC/OSII
sourcecode andits portsarestructured. The diagrambelow givesanideaofthewayin whichthese files
havebeenmaintained.Forfurtherinformationonthis,refertoMicroC/OSII,TheRealTimeKernelbyJean
Labrosse.

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EveryRTOSproject/sourcecodeconsistsof(asshownintheabovefigure):

Portablekernelcode:ThisisgenerallyacodewritteninANSICwhichcanbeportedtoanyplatform
fulfillingcertainrequirementslikememoryfootprint,computationalpower,numberofregistersetc.

BSPorportfiles:Thesearespecifictoanarchitecture,soforeveryarchitecture/boardthereisa
uniqueBSP/portfiles.

Configurationfiles:Thesearefileswhichcanbeusedtooptimizethekernelandreducethememory
footprintofthekernelimagebasedonwhatfeaturesofthekernelwouldbeusedbyanyapplication
program.

Applicationprogram:ThisisgenerallywrittenontopofthekernelcodeandutilizeskernelAPIsand
functionsexportedbytheOSfortheusersoftheRTOS.

Code,CompileandprogramtheRTOS(uC/OSII)programsonLinuxOS
NOTE:YouShouldhavetherequiredsoftwaretoolsi.e.texteditor,compiler,programmerandserial
terminalasshowninthesectionsubsectionSoftwareInstallationsforLinuxOS.Alsorefertothesub
sectionGettingstartedonLinux.
STEP1:CopytheMicriumdirectoryfromtheUNIBOARDCONTENTSfromthepath"\UNIBOARD
CONTENTS\UNIBOARD_UCOS_DOCS"totheuser'shomedirectory.

NOTE:YoucangototheusershomedirectoryfrommenuPlaces>>HomeFolder.

STEP2:CopythesamplecodesgivenintheUNIBOARDCONTENTSfromthepath\UNIBOARD
CONTENTS\UNIBOARD_SAMPLE_CODES\RTOSontoyourdisk.Intheproject/samplecodethatyouwant
toexecute,RENAMEMakefile_LINUXtoMakefile.

STEP3:Opentheevent_sem.cfileusingGeditEditor(refertothesubsectiongettingstartedonLinux).

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ABS

STEP4:Gotothecu
urrentprogramdirectoryyfromGeditEmbeddedtterminalusin
ngcdcommandorrightclick
onBotto
omterminalandselectchangedirecttory(referto
othesubsecctiongettinggstartedonLinux).

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ABS

ditEmbeddeedterminal.
STEP5:TypemakecleanonGed

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ABS

STEP6:TypemakeallonGeditEmbeddedtterminal.

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ABS

STEP7:TypemakeprogramonGeditEmbeddedtermin
nal.

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STEP8:Entertherootpassword
dtoprogramtheBoardandpressentter(ifpromp
pted).

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ABS

STEP9:TurnOFFth
heuNiBoardafterthepro
ogramhasbe
eenloadedssuccessfullyaasshownbelow.

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STEP10:OpenGtktterm(referto
othesubse
ectionGtkterrmConfiguraationsforseettingtheBaaudrate,Parrity,
Stopbits).

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ABS

heuNiBoardandOutputwillbedispllayedasshow
wnbelowon
nGtkterm.
STEP11:TurnONth

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Code,CompileandprogramtheRTOS(uC/OSII)programsonWindowsOS
NOTE:YouShouldhavetherequiredsoftwaretoolsi.e.texteditor,compiler,programmer,serialterminal
andrequireddriversforprogrammerasshowninthesubsectionSoftwareInstallationsforWindowsOS.
STEP1:CopytheMicriumdirectoryfromCDContentsdirectorypathas\UNIBOARD
CONTENTS\UNIBOARD_UCOS_DOCS\toC:\.
STEP2:GototheUNIBOARDCONTENTonCDinthedirectory\UNIBOARD
CONTENTS\UNIBOARD_SAMPLE_CODES\RTOS\andcopyityourdisk.
STEP3:GototheRTOSdirectorythatyouhavejustloadedonyourdisk.Selectoneofthesamplecodee.g:
3_SEMAPHORES.RenametheMakefile_WINDOWStoMakefileinthecurrentexampledirectory.
STEP4:OpentheMakefileusingTextEditorandsearchfortheTARGETlabel.Inthisexampleitis
event_sem.csoassignTARGET=event_semasshownbelowatline47.
NOTE1:InMakefileTarget=Filenameshouldbewithoutanyextensionsasshownbelowatline47.
NOTE2:CheckthePathsettingforuCOSIIMakefileasshownbelow(forWindowsOSonly)atline62and
63.Seethatitiscomplyingwiththepathshownbelowinthescreenshot.
NOTE3:ChecktheprogrammersAvrdudeoptionsasshownbelow(forWindowsOSonly)atline208.

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STEP5:Openevent_sem.cfromthecurrentdirectoryandthecodewillbedisplayedasshownbelow.

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NOTE: Check the code at line 108 to 112 in function named as void MyTask(void *pdata). This code is
initializing the timer0 i.e. required by scheduler for correct time delays and this macro named as
CPU_CLOCK_HZandOS_TICKS_PER_SECaredefinedinthefileos_cfg.hasshowninnextstep.
STEP6:Openos_cfg.hfromthecurrentdirectoryandthecodewillbedisplayedasshownbelow.

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NOTE 1: Here in this file os_cfg.h check at the line 27 for the macro CPU_CLOCK_HZ which should be
assigned as 16MHZ i.e. the CPU frequency and at line 67 the macro OS_TICKS_PER_SEC which should be
assignedas61.
NOTE2:Ifyouwanttouseanyfeatures/APIsoftheuC/OSIIenableiti.e.forexampleinthiscodewehave
used semaphore so we need to enable the API in os_cfg.h file as shown at line 105 macro named
OS_SEM_ENshouldbesetto1.Ifyoudontdothisthencompilerwillpromptforundefinedreferencefor
thatAPIcall.
STEP7:Gotopromptandtypemakeclean
NOTE:IfthereisErroronmakecleanasshownbelow

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make:***Noruletomaketarget`/home/XYZUSER/ucosII/software/uCOSII/Source/ucos_ii.c',needed
by`ucos_ii.d'.Stop
Thenyouneedtoremove*.dfilesfromcurrentprogramdirectory.Typerm*.dandthentrytousemake
cleancommandagain.

STEP8:Gotopromptandtypemakeall

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STEP9:Gotopromptandtypemakeprogram

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STEP10:TurnOFFtheBoardsPowerSwitch
STEP11:OpentheHyperTerminalutility(refertosectionUsingHyperterminalofWindows).
STEP12:NowturnitON.Theoutputwillbedisplayedasshownbelow

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YoucanalsodownloadthelatestuC/OSIIsourcecodefromMicriumwebsitelinkas
http://www.micrium.com/products/rtos/ucosii_download.htmlandportsforAtmelsMegaseriesfrom
http://www.micrium.com/atmel/ATmega.html

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Troubleshooting
Makeutility

Makesurethatyouareincurrentprojectworkingdirectory.

MakesurethatyouhaveMakefileinyourcurrentworkingdirectory.Ifnotthenrenamethe
Makefile_WINDOWSorMakefile_LINUXtoMakefilefromuNiBoardContents.

MakesurethatyouhavepoweredontheBoard.

Makesurethatprogramselectionswitchispressed.

MakesurethatyoudonothavemultiplefilesnamedMakefileinthecurrentworkingdirectory.

LEDs

MakesurethatyouhaveconfiguredPortasoutput.

MakesurethatyouhaveconnectedtheFRCcablecorrectlytotheportwhereyouareplanning
tointerfacetheLEDs.

UART

MakesurethatyouareconfiguringthecorrectUARTport.Generallyforserialcommunication
youwouldbeusingUART1sinceDB9connectorisavailableonlyonUART1.

Makesurethatbaudratethatyouareusingisthesameatboththeends.

MakesurethatyouhavenotopenedmultipleGtktermapplicationorHyperTerminal.

MakesurethatyouhaveconnectedSerialCablecorrectlyandthereisnoloosecontact.

MakesurethatyouhavenotforgottentocalltheInitializationcode.

MakesurethatthereisnoloosecontactontheH/W.

PoweruptheBoardagainifsomerandomstringcomesonLCD.

LCD

Joystick

MakesurethatyouareusingcorrectADCchannel.

MakesurethatJoystickselectionswitchispressed.

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LDR

MakesurethatyouareusingcorrectADCchannel.

MakesurethatLDRJumperisplacedontheBoardandinthecorrectposition.

ExternalInterrupts

Makesurethatyouhaveenabledpullupsinyourcode.

MakesurethatyouhaveenabledGlobalInterrupt.

MakesurethatyouareenabledCHbitinRTCconfiguration0x00RTCsmemoryarea.

Makesurethatyouhaveworkingbackupbatteryforcorrecttimeevenifboardispoweroff.

Makesurethatyourconnectionsareproper;youneedtoremovetheprogramjumperanduse
thebergconnectortoconnectthewiretoanotherSPIdevice.

MakesurethattheGNDpointsofthemasterandslavehavebeenconnected.

RTC

SPI

Motordrivers

Makesurethatyouhaveconnectedexternalpowersupply.

MakesurethatyourADCchipisthereontheBoard.

Makesurethatpowerselectionswitchisdepressed

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WhatyoucandowiththeuNiBoard
ThissectiondescribesthepurposeofeverysampleCodegivenintheCDsuNiBoardContentsdirectory
whichcontainsthesamplecodesforRTOSbasedandNonRTOS.
NOTE:ThesamplecodegivencontainstheMakefile.YouneedtorenametheMakefile_LINUXtoMakefile
forLinuxOSandsimilarlyMakefile_WINDOWStoMakefileforWindowsOSwhileusingthecode.
InNonRTOSbasedsamplecodeswewilldescribeinshortwhatthecodeismeantforandwhatsortof
outputitwilldemonstrate:
1. PORTS
TheLEDSareconnectedtooneofthegeneralpurposeport(PORTC)availableoftheATmega128.These
LEDs are connected using the FRC cable. The open FRC connectors are given on the uNiBoard so that
theirstatuscanbemonitoredbyinterfacingthemtoLEDsusingtheFRCcable.
2. Timer0usingInterrupt
TheSoftwareclockisimplementedusinghardwaretimer,Timer0inNormalmodesuchthatitgenerated
and Interrupt after every 1ms. The Boards Crystal is 16MHZ and PRESCALAR is set to 1024 therefore
16MHZ/1024 = 0.000064 sec (resolution of timer). So for timer to overflow for every 1ms we need to
loadthecount((25615)=241)as0.000064*15=0.96msec~1msec.TheclockisdisplayedonLCD
andUART.
3. Switches
TheSwitchesontheuNiBoardareconnectedtogeneralpurposeportpinsofthecontroller.Soyoucan
usethisswitchesforreadingtheinputsfromtheuser.TheSW1isconnectedtoPORTDSsPIN7andSW2
isconnectedtoPORTDsPIN6ofthecontroller.
4. EEPROM
TheATmega128hasanonchipEEPROM(4KB)sothatyoucanuseittostorethenonvolatiledata.The
code contains the some library functions so that you can store the contents in a particular pattern or
same data at locations by specifying start address and end address. The output is debugged on serial
window.EESAVEfusebithastobeenabledorelseoneveryprogrammingcycletheEEPROMwillalsobe
erasedalongwithflash.
5. JoystickandVTlibrary
The Joystick (analog joystick of PS2 fame) is used as a mouse on the serial window in this sample
example.TheJoystickXaxisisconnectedtotheonchipADCchannel0andYaxistochannel1.TheADCis
configured such that it gives an interrupt after the conversion is over. Since only one ADC channel
conversionisdoneatatimesoweneedtoreconfigureitforotherchannel.TheADCconversionvalueis
storedinADCsDataregister.

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TheVT100isvideoterminalmadebyDEC.Itbecameadefactostandardusedbyterminalemulators.
DigitalsfirstANSIcompliantterminal,introducedinAugust1978.TheVT100wasmoreofarchitecture
thanasimpleterminal.Therearetwodisplayformats:80columnsby24linesand132columnsby14
lines.Aseparateadvancedvideooptionwasrequiredtodisplay24linesin132columnmode.Thiswas
standardontheVT102andVT131.
We will use the same VT102 commands for serial terminal. The header file contains APIs which uses
VT102standardsequencecharactersforchangingtheconfigurationsoftheserialterminal.
The cursor on the hyper terminal / Gtkterm can be controlled using the joystick and the joystick
sensitivity/cursor speed can also be changed by pressing SW4. There are 3 different speeds
programmed.
6. LCD
The LCD can be used as an output device and can be placed on the uNiBoard LCD connector. The
hardwareconnectionsareasfollows:

LCDcontrollinesEnable(PD2)

R/~W(HardwiredGND)

RS(PD0)

LCDdatalines(PD4PD7).ThereforeLCDisinitializedusing4linemode.

ThegivenLCDlibrarycontainstheAPIsforprintingcharacter,string,values(decimal)onLCD,changing
theLCDpositions,clearingtheLCDscreen.
7. UART
TherearetwoUARTsoncontroller.OntheuNiBoardUART1isusedtoconnecttotheRS232portand
openUART0connectorgivenontheboardforconnectingthedeviceswithTTLcompatibledevice.
TheUARTlibrarygivenconfigurestheBaudrate,databits,andparityandstopbits.Refertothesection
UsinghyperterminalforWindowsforWindowsOSandGtktermConfigurationsforsettingtheBaud
rate,Parity,StopbitsforLinuxOS.
8. SPI
There are two programs given for SPI, one for Master and another for Slave. You can communicate
betweentwouNiBoardbyconnectingwiresonSPIlinesandmakingGNDcommonofboththeboards.
TheOutputisdebuggedusingtheserialterminalwhatevercharactertypedonmastersserialterminalis
transferredtotheslavesserialterminalusingSPI.MakesureyouhaveconnectedtheSPIlinesandthe
GNDpointsofthemasterandslavecorrectlyasfollows:

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MASTER

SLAVE

MISO

MISO

MOSI

MOSI

SCK

SCK

SS

SS

GND

GND

9. I2C(RTC)
TheDS1307istheRTC(RealTimeClock)chipinterfacedontheI2Clinesofthecontroller.TheAPIscan
be used for reading the date and time from RTC. Before reading you need to call this API
Update_RTC_variables()whichactuallyupdateslocalvariablesthatdataandtimeAPIsreturns.Youcan
also set date and time for RTC using Write_RTC() API and date and time values for writing to RTC
registersaretakenfromRTC_def_cfg.h.
TheoutputcanbeseenontheUART.
10. Buzzer
TheBuzzerisconnectedonPA3.ThesamplecodeconfiguresthepinasoutputandBuzzercanbeON
andOFFbysettingthisPINHighandLOWrespectively.

InRTOSbasedsamplecodeswewilldescribeinshortwhatthecodeismeantforandwhatsortofoutput
youshouldexpecttobedemonstratedwhileyouarerunningaparticularsamplecode:
1. Multitaskingrandom
This is a sample program that displays random numbers on the screen. The number is placed on the
random positions on the screen. Also displays the CPU utilization and number of tasks running on the
Serialterminal.
2. Snake
Thisisagameforplayingsnake.Therearefourtasksusedinthegame.Thetask1printsthescoreonthe
screenandalsoprintsthestartmessageontheLCDandUART.Scoreisupdatedbythetask4andissent
totask1forprinting.ThisisdoneusingMailbox.Task2isusedforgeneratingfoodonthescreenafter
particulartimeinterval.ThisintervalissetbyTask3.Thistaskbasicallyblocksthetask2andsignalsafter
aparticularinterval.Thisisdonebyusingsemaphoresaseventflags.Task4isusedprintingthesnake
andalsoupdatesthescoreifthesnakeeatsthefoodandsendsthescoretotask1forprintingonserial.

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The score is printed by this task on LCD whenever snake eats food. Also every time food is generated
LEDswouldblink.EverytimetheSNAKEeatsfoodthebuzzerwillgiveabeepsound.
3. Semaphores
Thisisasamplecodewhichdisplaysthesharedresourceasaglobalvariablewhichissharedamongthe
varioustasks.Therearefourtaskswhichwritetothesameglobalvariableandoneprinttaskwhichwait
forthesignalandoncegetthesignalprintsthevalueoftheglobalvariableonUARTandagainwaitfor
theeventtooccur.
4. Mutex
ThisisasimpleexamplewhichshowshowthepriorityinversionproblemcanbereducedusingMutex.In
thisexamplethereare3taskswhichillustratehowalowprioritytaskownsaresourceandusesaMutex
toinheritthepriorityofthewaitingtaskofhigherpriorityandthiscanbeseenonserialterminal.
5. MailBox
InthissamplecodethemessageisbeenupdatedbymanytasksusingMailBoxwhileprinttaskwaitstill
theMessagehasbeenwrittenandafterthatMessageisprintedbytheprinttask.Sothisshowshowthe
message is not allowed to be modified by the other task once task owns theresource (Message). The
higher priority task is the print task which will print the Message when one of the task releases the
resource(Messagemailbox).
6. MessageQueues
ThissamplecodeillustratestheuseofMessagequeuebytwotaskspostingthemessageandonetask
whichprintthismessageonUART.
7. ISRandDeleteTask
This is sample program in which the semaphores are used to update the shared variable among the
varioustasks.Maintask(higherpriority)waitingfortheeventtooccurusingsemaphoreaseneventflag.
Whenever the interrupt occurs the scheduler executes its corresponding ISR. The ISR signals the main
taskbypostingthesemaphoreandsignalinganevent,thenthemaintaskdeletesthetaskonebyone
andalsodeletesthetaskitself.

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ThinkLA
ABS

Addons
Whatwehavediscu
ussedtillnow
waresome completelysstandaloneaactivities.Weassumeth
hatyouwonttjust
t
activitties and exp
plore the boards powerr further using accessoriies like SD/M
MMC
limit yourselves to these
card interface (SPI based) or Etthernet interface (SPI baased). You can
c interfacee these addons that wiill be
bsitehttp://tthinklabs.in//shopinashortwhile.
availableeonourweb

MCcard
SD/MM
Interfaace
Activitieesrelatedtothese
productslikereadingga
FAT
partition
ned/formattedSD
card,fileehandlingussingthe
Embedd
dedFileSysteemlibrarycaan
bedoneeusingtheSD
D/MMCcard
d
interfaceewhichcom
mesalongwitth
adetaileedusermanu
ualand
applicationnotes.

Ethern
netInterfface
Moreover,ifyoufeeelthatyouw
wanttomakketheboard
dEthernetenabledyou should
net controlleer board thaat we are pllanning to ccome up
w
with.
definitelly check outt the Ethern
Activitieesrelatedto usingthisb
boardwithth
heuNiBoard
dwillbeuplo
oadedshortlyonourwe
ebsite.Usinggthe
Ethernet controller you can also port thee open sourrce uIP stackk by Adam Dunkels an
nd enhance your
dedprojectsbymakingth
hemEtherneetenabled.YYoucanalsobuildstuffliikeanembeddedwebseerver
embedd
orcontrrolyourboarrd/devicesco
onnectedtotheboardovvertheEthernet.

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uNiBoardv1.1Schematic
Controllersection:ATmega128pinconnections

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Buzzersection:

Joystickandconnectorssection:

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LCDsection:

LDRsection:

LEDssection:

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MotorDriversection:

Powersupplysection:

RTCsection:

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Sensorportsection:

Switchessection:

UARTsection:

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USBprogrammersection(Courtesy:http://www.fischl.de/usbasp/):

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ThinkLA
ABS

Licen
nsingtterms

TheuNiBoardislicensedbythe CreativeCommonslicen
nse(formoreedetailsrefeerLicense.txxtinCDconttent),
which has
h
the philosophy off Share, Remix,
R
Reusse
Legally.Itmeansth
hatanyoneisallowedto
oproducecopies
oftheboard,toredeesignit,oreeventosellb
boardsthatccopy
thedeesign.Youdo
ontneedtopay
a licen
nse fee to the
t ThinkLA
ABS team orr even ask p
permission. However, iff you
repub
blish the refeerence desiggn, you havee to credit th
he original group. And iff you
tweako
orchangetheboard,you
urnewdesiggnmustusethesameo
orasimilarC
CreativeCom
mmonslicensseto
ensuretthatnewverrsionsoftheboardwillbeequallyfre
eeandopen.

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ThinkLABS

BillofMaterials(BOM):

Sr.no.
1

10

11

uNiBoardver.1.1BillofMaterials
Components
Microcontrollers
Atmega128(TQFP)
Atmega8(TQFP)
Otherchips
L293DMotordriver
7805voltageregulator
MAX232leveltranslator
DS1307RTC
Batterybackup
Battery3V(buttoncell)
Crystal
16MHz(forAtmega128)
12MHz(forusbasp)
32.768KHz(forRTC)
Sensors
LDR
PS2AnalogJoystick
Sockets
16pinICbase
Batterycellholder
LCD
16x2AlphanumericLCD
Cables
Serialcable(DB9FtoDB9M)
USBCable
FRCCables
LED
RedLEDSMD
Buzzer
5VBuzzer
Connectors
DCJack(PCBmountable)
PTRconnector
DB9Rightanglefemale
USBconnector
10pinFRCconnector
Bergheader(male)
Bergheader(female)

Quantity
1
1

1
1
1
1

1
1

1
1

1
1

1
1
2

11

1
3
1
1
4
1set
1set

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ThinkLABS
12

13

14

15

16

17

Diodes
3.6VZener
4148Diode
Resistors
1K
10K
270K
330Ohms
2K2
4K7
68Ohm
1KSMDSIP
10KPOT
Capacitors
100uF/10V
4.7uF/50V
470uF/16V
220uF/16V
15pF
22pF
0.1uF
0.22pF
Transistors
2N2222
Switches
Powerswitches(PushtoON)
SMDMicrokey
Twopinjumpers
Metalspacers(3x15)

2
1

3
2
2
2
2
2
2
2
1

1
1
1
1
2
2
15
2

3
5
2
4

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ThinkLABS

AppendixAReferences

Websites:
www.atmel.com
www.avrfreaks.net
www.fishl.de/usbasp/
www.maximic.com
http://en.wikibooks.org/wiki/Embedded_Systems/Atmel_AVR

Books:
1. MicroC/OSIIbyJEANJ.LABROSSE
2. Programming&CustomizingTheAVRMicrocontrollerByDhananjayV.Gadre
3. EmbeddedCProgrammingandtheAtmelAVRByBarnettandCox
4. AVRRISCMicrocontrollerHandbookByAtmel

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ThinkLABS

AppendixBServicesandSupport

Ourwebsitesupport:
ForanytechnicalqueriesrelatedtouNiBoard:
http://www.thinklabs.in/forums/
Forarticles,activitiesandupdatesrelatedtouNiBoard:
http://www.thinklabs.in/resources/
ForpurchasinguNiBoardaccessoriesorotherrelatedcomponents:
http://www.thinklabs.in/shop/

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