Building Robots Part 11 pps

[...]... PB3/A11 P P PB4/A12 P DDP P P P P P P P PB5/A13 D2 3 DP A A A A A A A PB6/A14 1 / / 4 D 7 6 5 4 3 2 1 PB7/A15 PA0/IC3 / MM/ 5 / / / / / / / 68HC11 6 811 Port E3 46 45 44 43 42 41 40 39 38 37 36 35 34 6 811 Port E2 6 811 Port E1 6 811 Port E0 T I OS / V P OOOOI I x S S CS d A CCCCCC DOI K S d I 2 3 4 5 1 2 2 12 22 32 42 52 62 72 82 93 03 13 23 3 6 811 Data Bus 6 811 DATA BUS 6 811 Port A0 6 811 Port A1 6 811 Port... 6 811 Port A6 6 811 Port A2 +5V 6 811 Port D0 ~A14 6 6 811 Port D1 6 811 E clock 9 10 U7/74HC132 Serial Line Restart +5V RP1 47K Reset Button 8 +5V VR1 100K LCD Contrast Adjust ~A14 4 A15 5 D2D3D4D5Ti3 High-Speed Serial Header 6 G1 Y7 G2A Y6 G2B Y5 1 3 8 Y4 Y3 3 C Y2 2 B Y1 1 A Y0 6 811 R/~W +5V SW2 6 811 A10 6 811 AS pin 4 0 1 2 3 4 5 6 D7 Expansion Bus/LCD Connector 194 A13 A12 5 4 A14 U7/74HC132 7 9 10 11. .. Delay 1 11 09 8 A15 9 1 11 0 R7 47K +5V R11/2.2M C6/2.2µF Mode Delay R9 47K XTAL/8Mhz C11/4.7µF U9b/74HC10 +5V U3 11 C 1 O C 1 8 8D 1 7 7D 1 4 6D 13 5D 8 4D 7 3D 4 2D 3 1D U2 373 8Q 7Q 6Q 5Q 4Q 3Q 2Q 1Q 8 64L256 19 16 15 12 9 6 5 2 10 9 8 7 6 5 4 3 25 24 21 23 2 26 1 A0 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 D1 D2 D3 D4 D5 D6 D7 D8 11 12 13 15 16 17 18 19 CS- 2 0 R/~W WE- 2 7 OE- 2 2 8 9 10 11 12... 6 811 Microprocessor External RAM (32K bytes) $FFFF $8000 $7FFF $7000 Digital I/O Port 3 $6FFF $6000 Digital I/O Port 2 $5FFF Digital I/O Port 1 $5000 $4FFF $4000 Digital I/O Port 0 $103F $1000 $00FF $0000 6 811 Internal Registers 6 811 Internal RAM Total Address Space = 65536 bytes (64K) Figure B.7: 6 811 System Memory Map B.3 THE MOTOR DRIVERS 193 +5V +5V R13 47K "ESCAPE" SW4 6 811 Port A1 R12 47K 6 811. ..A.8 PARTS LIST 181 MISCELLANEOUS 1 1 3 0.033 0.05 1 2 1 3 6 2 2 1 1 1 0.1 8 8 0.01 4-AA cell battery holder $0.80 16x2 LCD display (non-backlit) $8.00 heat sink $0.393 heat shrink tubing, 1/8" (60’ spool) $21.95 heat shrink tubing, 1/4" (40’ spool) $21.95 17-bin parts caddy $2.75 red cylindrical parts caddy $0.40 miniature parts case $0.39 hex nylon spacers, 1/2"... Avenue, Cleveland, OH 4 4115 orders: (800) 642 -112 3 info: (216) 621 -112 1 fax: (216) 621-8628 retail Radio Shack Radio Shack 178 Alewife Brook Pkway, Cambridge MA 02138 (617) 491-2925 attn: Don distr’er Time Elex Time Electronics surplus Timeline Inc 1490 W Artesia Blvd., Gardena, CA 90247 orders: (800) 872-8878 info: (213) 217-8912 fax: (213) 532-6304 Timeline Figure A.7: 6.270 Parts Listing, Page Four... $7000 There is small area of memory that is internal to the 6 811 chip itself This memory consists of 256 bytes located at the start of the address space, from locations $00 to $FF The 6 811 also has a bank of 64 internal special function registers, located at addresses $1000 to $103F These registers control various hardware features of the 6 811 (the analog inputs and serial communications are two examples)... performs either a read or write operation as determined by the read/write line B.1.1 Multiplexing Data and Address Signals Things are a little more complex with the particular microprocessor that is used in the 6.270 board, the Motorola 6 811 On the 6 811, The eight data bus wires take turns functioning as address wires as well When a memory location is needed (for reading or writing), rst the data wires function... +5V R13 47K "ESCAPE" SW4 6 811 Port A1 R12 47K 6 811 Port A2 D0 6 811 Data Bus D7 U6 12 9 2Y1 1 4 2Y2 7 2Y3 2Y4 1 6 1Y1 5 1Y2 1 8 1Y3 3 1Y4 2G 19 SW3 8 2A1 11 2A2 6 2A3 13 2A4 1A1 4 1A2 15 1A3 2 1A4 17 244 1G "CHOOSE" 0 1 2 3 4 5 6 7 DIGITAL INPUT PORT 1 +5V '138 Y7 Select RP1/47K Figure B.8: Digital Input Circuit '374 are connected to the 6 811 data bus The Y6 select signal connects to the clock input of... chip So, the '244 chip will turn on and will drive a byte onto the data bus The read operation will complete with this byte having been read from the location in 6 811 address space that was selected Notice that address bits A0 through A11 have no eect on the operation just described As long as A15 is zero, A14, A13, and A12 are one, a read operation will cause the '138 to turn on the digital input . 4 U7/74HC132 PD0/RxD IRQ XIRQ RESET PC7/AD7 PC6/AD6 PC5/AD5 PC4/AD4 PC3/AD3 PC2/AD2 PC1/AD1 PC0/AD0 XTAL PA0/IC3 PB7/A15 PB6/A14 PB5/A13 PB4/A12 PB3/A11 PB2/A10 PB1/A9 PB0/A8 PE0/AN0 PE4/AN4 PE1/AN1 PE5/AN5 P E 2 / A N 2 P E 6 / A N 6 P E 3 / A N 3 P E 7 / A N 7 V r l V r h V s s M O D B M O D A A S E R / W E X T A L P A 1 / I C 2 P A 2 / I C 1 P A 3 / O C 5 P A 4 / O C 4 P A 5 / O C 3 P A 6 / O C 2 P A 7 / P A I V d d P D 5 / S S P D 4 / S C K P D 3 / M O S I P D 2 / M I S O P D 1 / T x D 68HC11 U1 6 811 Port E1 6 811 Port E2 6 811 Port E3 +5V 6 811 E clock R9 47K R10 10K C11/4.7µF +5V U9b/74HC10 R7 47K R8 10K C6/2.2µF +5V 6 811 Data Bus 6 811 Port D0 6 811 Port D1 6 811 A10 6 811 Port. Select 6 811 Port A7 6 811 Port A6 6 811 Port A2 6 811 Port A0 6 811 Port A1 +5V SW2 RP1 47K +5V U7/74HC132 +5V 27 6 R/~W 20 8 12 7 15 8 16 9 19 10 2 3 5 4 6 5 9 6 31 9 1 4 6 ~A14 ~A14 6 7 0 18 11 9 1 17 12. $1.10 MCM 95-320 1 17-bin parts caddy $2.75 $2.75 MCM 21-1665 2 red cylindrical parts caddy $0.40 $0.80 Elex Goldmine G727 1 miniature parts case $0.39 $0.39 Edlie TD 2110 -16 3 hex nylon spacers,