Going forward to a robotics control platform from the M16C, I have identified the following peripherals for the robot, and how they map across to the M16C CPU.
|
Robot Peripheral |
CPU(M16C) Peripheral |
I/O Pins |
|
SRF04 |
2x Timers, 1xGPIO TB1 (control out),
Output via GPIO p9_7 TB4 (PW Measure)
input via TB4_in p9_4 |
P9_7 P9_4 |
|
GP02D02? IR Ranger |
1xTimer, 1 x GPIO, 1
x UART tbc – pre allocated TB2, RxD2, |
tba |
|
Wheel Encoders (x2) |
2 x Timer TA4, TA0 (using
TA4_in, TA0_in) in Event counter mode |
P8_1 P7_1 |
|
Bumper (x2) |
2 x INT INT1, INT2 |
P8_3 P8_4 |
|
Kill Switch |
1 x INT INT0 |
P8_2 |
|
DC Motors |
2xTimer, 3xGPIO TA1,TA2 (using
TA1_out,TA2_out) in PWM mode 3xGPIO: D1,D2 –
Direction, E: Enable |
P7_2 P7_4 tba |
|
Data |
1xUART TxD1 and RxD1 |
P6_6 P6_7 |
|
Leftover |
Timers: TB0,3,5 TA1 Interrupts: INT3,4,5 UARTs: ? A/D converters: ? (Low Batt) GPIO: ? |
|
|
|
|
|