Ain - 24 V1.2 Guide V1.1

Animatronic & Puppet control systems for Film & Television
p.Brain-µ24 V1.2 Robot Controller - User Guide V1.1

Preliminary (Updated 26/07/09)
Page 1 of 30
Contents
• (1) Product Image
• (2) Description
• (2) Key Features
• (2) Board Layout
• (3) Connector CN1
• (4) Jumper JP1
• (4) Jumper JP2
• (5) ESD200 Installation & Configuration
• (6) Micro Controller Schematic
• (7) Analogue Capture / Digital IO X 8
• (7) UART 1 / Serial Port 1
• (7) LED Indicators
• (8) EEPROM Schematic
• (8) EEPROM Operation
(8) RS232 Schematic
• (8) UART2 / Serial Port 2
• (9) PWM Multiplexor Schematic
• (9) PWM Multiplexor Operation
• (11) Code Examples
• (11) Software License Agreement
• (11) Processor Initialisation
• (16) Port & Hardware Initialisation
• (20) RS232 Communications
• (22) EEPROM Read & Write
• (25) Delay Routines
• (26) PWM Multiplexer
• (30) Legal (Please Read First)
This controller is designed for people who have an understanding of PIC

microconrollers, associated peripherals and general PWM techniques, It is not
suitable for the beginner or novice.
A Pre-Programmed version is available for controlling hexapod robots (p.Brain-

µHexEngine) , or as a simple serial servo controller p.Brain-µSSC.
micromagic systems ltd • Registered in England no 3745348

www.micromagicsystems.com
Page 2/30
P.Brain-µ24 (v1.1) User Guide
Description
The p.Brain-µ24 has be designed for use in advanced hobby robotics, where multiple R/C type
servos need to be controlled with a standard PWM signal, such as hexapod robots. At the core
of the p.Brain-µ24 is a microchip dsPIC33F 16bit micro controller with 128Kb programme flash,
8Kb RAM and 32Kb external EEPROM. This micro controller can be programmed using
microchips ICD2 programmer and MPLAB IDE. Although the micro controller can be
programmed in assembler, I suggest using a C compiler such as Hi-techs (www.htsoft.com) All
programming examples are written for the Hi-tech compiler.
The p.Brain-µ24 has 24 PWM channels for R/C servo control, along with a variety of other
peripherals such as UART's, I2C, ADC and Digital I/O. Unlike the p.Brain-ds24, the p.brain-µ24
does not require a motherboard for operation, all 24 PWM signals are routed to servo
connector pins with power supplied from a terminal block.
Key Features
 Compact size (approx 68 x 35 mm )

 On Board 3.3V regulator
 dsPIC33FJ128GP206 16bit, 40Mips Processor
 128Kb Programme Flash, 8Kb RAM, 64Kb External EEPROM
 External 8Mhz Ceramic Resonator or Internal 7.37Mhz R/C with PLL to 40MIPS
 UART1, Inverted TTL
 UART2, RS232, or Bluetooth via optional ESD200 ( Jumper selectable )
 I2C (Internally connected to 8Kbyte EEPROM )
 8 x Digital IO, 6 with pull-up, or 8 x 12 bit Analogue capture (ADC)
 2 x On Board LED's
 24 PWM servo outputs
 ESD200 Bluetooth socket, with blue connection LED
 RJ11 4/4 RS-232 socket
 Power terminal for Logic power , Servo power and Ground
 Jumper selectable Logic power = Servo power
 Resettable Servo Power Fuse
p.Brain LAYOUT
SERVO 1-4 SERVO 5-8 SERVO 8-12 JP2
CN3
CN2
CN4 &
CN5
JP1
SERVO 21-24 CN1
SERVO 17-20 SERVO 13-16
Page 3/30
Connector CN1 (6pin 0.1” (2.54mm) pitch)
PIN NAME DESCRIPTION

1 SDA I2C SDA
2 CTRL_IN UART1 TTL Receive
3 SCL I2C SCL
4 CTRL_OUT UART1 TTL Transmit
5 VCC OUT Regulated 3.3V output ( 100ma MAX )
6 GND Power Ground
Connector CN2 (12pin 0.1” (2.54mm) pitch)

In Circuit Serial Programming pins are available on this connector.

1 GND Power Ground
2 DIG0/ANA0 Digital I/O 0 or Analogue Capture 0
3 GND Power Ground
5 VCC OUT Regulated 3.3V output ( 100ma MAX )
7 MCLR ISSP MCLR & Reset
9 PGC ISSP Clock, Digital I/O 6 or Analogue Capture 6 (No Pull Up)
11 PGD ISSP Data, Digital I/O 7 or Analogue Capture 7 (No Pull Up)
Pin 1
Pin 3
Pin 5
Pin 7
Pin 9
Pin 11
Connector CN3 ( 3 way screw terminal )

1 GND Servo & Logic Power Ground
2 VL Logic Power Supply, 4.5 to 12 V DC
3 VS Servo Power Supply, level depends on servos used.
Note: Servo power is fused via a polyswitch. This fuse will trip at approx 8.5Amps, and will
reset when the short circuit condition has been removed. The fuse is rated at 16V max.
Connector CN4 ( RJ11 4/4 )

1 TX_232 RS-232 Data out
2 RX_232 RS-232 Data in
3 GND Ground Pin 1
4 N/C Not Connected

Page 4/30
An RS-232 RJ11 to DB9 cable is available separately (p.Brain-RJ232) or you can make your
own serial lead using the following wiring:
RJ11 to PC DB9 (Female)

RJ11 Pin Name DB9 Pin
1 p.Brain-µ24 TX 3
2 p.Brain-µ24 RX 2
3 GND 5
Connector CN5 (2 x 4 way 0.1” pitch sockets for ESD200 )
CN5 comprises of two connectors for fitting the ESD200 bluetotth module.
CN5
CN5 Part1
PIN NAME DESCRIPTION PART1
1 GND Power Ground PIN1
2 VCC 3.3V Power
3 Connected Connection Status
4 RESET Reset Config Defaults
CN5 Part2
1 GND Power Ground
2 N/C Not Connected
3 RX Data out
4 TX Data in CN5
PART2
PIN1
Jumper JP1 ( 3pin 0.1” (2.54mm) pitch)
This jumper selects between RS232 or ESD200 bluetooth input to UART2 RX. The PCB is
indicated with a 'B' and 'R' position for the jumper: B = bluetooth, R = RS232. The output
transmit of UART2 is always routed to both RS-232 and the ESD200 socket. This means that if
you are using the p.Brain-µ24 configured in bluetooth mode JP1=B, you could plug in an
RJ-232 adaptor lead to a serial port to monitor the data being sent to the ESD200, or visa
versa.
Jumper JP2 ( 2pin 0.1” (2.54mm) pitch)
This jumper connects the fused side of the servo power supply VS to the logic power supply
VL. This allows the processor to run from the same power as the servos, however, in some
cases power fluctuations on the servo power source may cause the processor to reset.

Page 5/30
ESD200 Installation & Configuration
Ensure the power to the p.Brain-µ24 is switched off, and insert the ESD200 into the socket as
shown in the image.
Before you configure the ESD200 device, you may need to change the desired baud rate, this
defaults to 115200. If you require a different baud rate, you will need to use the RJ-232
adaptor and configure the HexEngine TBR setting before proceeding. Note, the baud rate into
the ESD200 does not have to match the baud rate on the host PC bluetooth adaptor.
Although not essential, if you have an RJ-232 adaptor lead, it is advised to plug this in during
ESD200 configuration so that the progress and any configuration errors can be monitored.
Connect the RJ-232 lead from the RJ11 port to a free serial port on your host PC, and start up
your terminal software.
Place the JP1 jumper in the 'B' position, switch on power to the p.Brain-µ24, wait until the unit
has booted up, (approx 2 seconds), then press and hold the small tactile switch located under
the power terminal CN3 for at least 2 seconds, then release. All going well your ESD200 will be
configured in approximately 5 seconds.
The bluetooth pass key or pin code is: 1138 This is only true for version 1.2 and higher of the
HexEngine, for versions below 1.2, please see the relative documentation.
Once configuration is complete, your ESD200 should now be in discover mode, this means that
you should be able to pair with your ESD200 using Windows bluetooth utility or similar. During
the pairing procedure you will be asked for the pass key defined above. When pairing is
complete, you should be able to connect you your ESD200 with the COM port assigned by your
host operating system.
The blue LED next to the ESD200 is the connection LED. This should illuminate when a
connection is made between the device and a host system. Note I have noticed in some cases
the LED does not light even when a connection is established, this seems to be determined by
the host software initiating the connection!?

Page 6/30
Micro controller Schematic
This schematic displays the micro controller connections to the PWM block, EEPROM, LED's and
various ports which are described in more detail in the following pages.

Page 7/30
Analogue Capture / Digital IO x 8
There are eight p.Brain pins that can be configured as either analogue capture or digital IO:
PORT PIN NAME p.Brain NAME DESCRIPTION
RB0/AN0/CN2 DIG0/AN0 Digital IO 0, Ana Chan 0

RB4/AN4/CN6/IC7 DIG4/AN4 Digital IO 4, Ana Chan 4, Input Capture 0
RB5/AN5/CN7/IC8 DIG5/AN5 Digital IO 5, Ana Chan 5, Input Capture 1
RB6/AN6/PGC1 DIG6/AN6 Digital IO 6, Ana Chan 6
RB7/AN7/PGD1 DIG7/AN7 Digital IO 7, Ana Chan 7
DIG4/AN4 and DIG5/AN5 can be configured as input capture ports if needed. DIG0 thru DIG5
have a programmable weak pull-up and change notification interrupt capabilities. DIG6 and
DIG7 have no internal pull up resistors and are also the ICSP pins.
For further information on analogue capture, input capture and change notification pins, please
see microchips data sheet at www.microchip.com or the supplied sample code.
UART1 / Serial Port 1
Serial port 1 can only operate at Inverted TTL levels. In order to use the port the following
micro controller pins are required:
SDI1/U1RX/RF2 CTRL_IN TTL Data In

SDO1/U1TX/RF3 CTRL_OUT TTL Data Out
To use serial port 1, RF3 needs to be configured as an output, and RF2 as an input. Also the
associated UART registers require configuration.
For further information on accessing ports or using the UART please refer to the data sheet at
www.microchip.com or see the supplied code samples.
LED Indicators
PORT PIN NAME SCHEMATIC NAME DESCRIPTION
RD3 LED1 Red Led

RD4 LED2 Green Led
There are two LED's on the p.Brain module accessible by the user. These LED's have there
anode's connected to the port pins defined above. To turn on an LED, enable the relative port
bit as an output, and set the port pin high. For further information on accessing ports please
see microchips data sheet at www.microchip.com or the supplied code samples.

Page 8/30
EEPROM Schematic
EEPROM Operation
PORT PIN NAME EEPROM PIN DESCRIPTION
RG2/SCL1 SCL Serial Clock

RG3/SDA1 SDA Serial Data
The on board EEPROM is a microchip 24LC64 device which can accessed using the pins in the
above table. The write protect pin and address pins on the EEPROM have been tied to GND,
which gives a base address of 0xA0. Communication with the device is achieved using the
Synchronous Serial Port 1 in I2C master mode. RG2 & 3 must be configured as inputs, and
the SSP port configured as I2C master mode. For further information on accessing ports or the
24LCxx series EEPROM's please see microchips data sheet at www.microchip.com or the
supplied code samples.
RS232 Schematic
The RS232 transceiver is connected to UART2 on the PIC micro controller. In order for the
RS232 receiver to be connected to UART2 RX, JP2 must be installed in the 'R' position. This is
due to UART2 being shared between RS232 and/or ESD200 bluetooth module. See below for
operation information.
UART2 / Serial Port 2
Serial port 2 can be configured as either RS232 or Bluetooth using the optional ESD200
module. UART2 TX pin is sent to both the RS232 transceiver and the ESD200 module socket.
UART2 RX pin is switched using JP2 to be driven either from the RS232 transceiver or the
ESD200 module. In order to use the port the following micro controller pins are required:

Page 9/30
CN17/U2RX/RF4 TERM_IN TTL Data In

CN18/U2TX/RF5 TERM_OUT TTL Data Out
RF0 232_EN RS232 Enable
To use serial port 2, RF0,4 need to be configured as outputs, and RF5 as an input. Also the
associated UART registers require configuration.
For further information on accessing ports or using the UART please refer to the data sheet at
www.microchip.com or see the supplied code samples.
PWM Multiplexor Schematic
PWM Multiplexor Operation
In order to get 24 channels of PWM from the dsPIC, three 1 to 8 channel multiplexors are
used. Each multiplexor has 3 address lines A, B and C and a gait line which is tied to one of
the PWM outputs from the micro controller, PWM1, PWM2 and PWM3. There are two more gaits
on the multiplexors which are tied to ground and so are not used. With this arrangement,
three PWM channels are driven at a time, one on each multiplexor. Once the PWM cycle is
complete for the current three channels, the address select lines are incremented and the next
three channels can be driven. This is repeated eight times to give the full 24 channels.
The average R/C PWM signal is 1 to 2ms long, and repeats 50 times per second. With the
multiplexor arrangement we need to output 8 PWM signals sequentially, so if we were to say

Page 10/30
the longest PWM time is 2ms then the maximum time for 8 channels would be 16ms which
would give a maximum refresh rate of 62.5Hz. Given that there would be some time required
to service interrupts and setup registers, a more realistic refresh rate would be 60Hz.
 FPS = Servo Refresh Rate in Hz

 MAXPWM = Maximum PWM length in mili seconds
 CHANS = Number of sequential channels (remember, each sequential channel drives 3
PWM outputs)
FPS = 1 / (MAXPWM * CHANS) = 1 / ( 2m * 8) = 62.5Hz
This of course gives the maximum refresh rate for all 24 channels at 2ms PWM pulse width.
With less channels, higher refresh rates can be achieved, however, 50 or 60hz is sufficient.
You will notice in the multiplexor schematic that PWM1 does not correspond to the first
multiplexor, and the multiplexor outputs are not necessarily in ascending order in reference to
servo output connectors. This is due to PCB routing constraints and may seem confusing at
first, however, all PWM outputs can be re-mapped in software to the correct servo output pin.
(see example code)
PORT PIN NAME SCHEMATIC NAME DESCRIPTION
RD0/OC1 PWM1 Output Compare Register PWM output 1

RD10/IC3/INT3 MUXA Multiplexor Block Address A (LSB)
RD9/IC2/INT2/U1CTS MUXB Multiplexor Block Address B
RD8/IC1/INT1 MUXC Multiplexor Block Address C (MSB)
In order to access the multiplexor block, RD0,1,2,8,9,10 must be configured as outputs in the
port configuration registers. Also output compare registers 1 thru 3 must be configured for
PWM output. For further information on accessing ports, and output compare registers please
see microchips data sheet at www.microchip.com or the supplied code samples.

Page 11/30
Code Examples
All code examples are written for the Hitec dsPICC compiler. All code examples are subject to
the following license agreement.
Software License Agreement
The software supplied herewith by micromagic systems limited (the “Company”) for its p.Brain
controller is intended and supplied to you, the Company’s customer, for use solely and
exclusively on micromagic systems p.Brain controller products. The software is owned by the
Company and/or its supplier, and is protected under applicable copyright laws. All rights are
reserved. Any use in violation of the foregoing restrictions may subject the user to criminal
sanctions under applicable laws, as well as to civil liability for the breach of the terms and
conditions of this license.
THIS SOFTWARE IS PROVIDED IN AN “AS IS” CONDITION. NO WARRANTIES, WHETHER

EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO
THIS SOFTWARE. THE COMPANY SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR
SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
Processor Initialisation
In the following code example you will see how to initialize the processor oscillator and
configuration bits. The processor is configured to run at 32Mhz using the 8Mhz external
resonator. The main programme then uses functions for port initialisation, serial
communications, time delays and EEPROM access. These functions are defined in the code
examples sections below.
// *********************************************************************
// DEFINITIONS
// *********************************************************************
#define PIC_CLK 32000000 // CLOCK SPEED

#define FCY (PIC_CLK/2) // INSTRUCTION SPEED
// SOME USEFULL TYPE DEFINITIONS

typedef BYTE unsigned char
typedef WORD unsigned int
// *********************************************************************
// HEADER FILES
// *********************************************************************
#include <htc.h>
#include <stdio.h>
#include <stdlib.h>
// *********************************************************************
// CONST STRING DATA
// *********************************************************************
const char build_title[] = {"Example"};

const char build_author[] = {"micromagic systems ltd"};
const char build_date[] = {__DATE__};
const char build_time[] = {__TIME__};
const char build_vers[] = {"1.0"};

Page 12/30
// *********************************************************************
// CONFIGURATION BITS
// *********************************************************************
__CONFIG( FOSCSEL, OSCPLL & IESODIS & TEMPEN ); // PLL ON

__CONFIG( FOSC, POSCXT & FCKSMDIS ); // EXTERNAL XT OSCILATOR
__CONFIG( FWDT, WDTDIS ); // WATCHDOG TIMER DISABLED
__CONFIG( FPOR, PWRT128 ); // POWERUP TIMER = 128mS
__CONFIG( FGS, GCPU ); // NO CODE PROTECT
// *********************************************************************
// PSECT. NOT NECESSARY BUT CAN BE USEFULL FOR DEBUGGING
// *********************************************************************
#pragma psect text=main
// *********************************************************************
// PORT DEFINITIONS
// *********************************************************************
#define PORTB_SETUP 0b0000001111111111

#define PORTC_SETUP 0b0000000000000000
#define PORTD_SETUP 0b0000000000000000
#define PORTF_SETUP 0b0000000000010100
#define PORTG_SETUP 0b0000001111001100
#define PORT_CNPU1 0b0000111111111100

#define PORT_CNPU2 0b0000000000000000
#define RED_LED RB14 // LED1

#define GRN_LED RB15 // LED2
#define PWM1 RD0 // USED BY PWM BLOCK

#define PWM2 RD1
#define PWM3 RD2
#define PWM4 RD3
#define MUX_A0 RD10 // PWM BLOCK MULTIPLEXOR PINS

#define MUX_A1 RD9
#define MUX_A2 RD8
#define EE_WP RD7 // EEPROM WRITE PROTECT

#define SCL RG2 // I2C SERIAL CLOCK
#define SDA RG3 // I2C SERIAL DATA
#define RS232_EN RF0 // RS232 ENABLE
#define JP0 !RG8

#define JP1 !RG9
#define JP2 !RG6
#define JP3 !RG7
// *********************************************************************
// SERIAL PORT DEFINITIONS AND GLOBAL VARIABLES
// *********************************************************************
// THE FOLLOWING BAUD RATE VALUES ARE FOR CLOCK SPEEDS OF 32 MHZ
// PLEASE CONSULT THE dsPIC33F DATA SHEET FOR BAUD RATE CALCULATIONS
// OR USE THE Pic Baud Calcualator TOOL FROM MICROMAGIC SYSTEMS.
// NOTE: DO NOT USE BRGH=1 SETTING ON THIS PROCESSOR, IT DOES NOT WORK
// ON EARLY SILICON REVISIONS
#define B9600 103 // 0.16% ERROR

#define B19200 51 // 0.16% ERROR
#define B38400 25 // 0.16% ERROR
#define B57600 16 // 2.12% ERROR
Page 13/30
#define B115200 8 // -3.55% ERROR
// MOST PC BASED UARTS WILL ACCEPT BAUD RATE ERRORS OF +/- 3.55%, HOWEVER
// IF YOUR HOST SYSTEM ALSO HAS A BAUD RATE ERROR, YOU MAY EXPERIENCE PROBLEMS.
#define TX2_BUFFER_SIZE 32 // MUST BE 2^n EG. 2,4,8,16,32,64...

#define RX2_BUFFER_SIZE 32 // MUST BE 2^n EG. 2,4,8,16,32,64...
volatile BYTE gTx2Buffer[ TX2_BUFFER_SIZE ];

volatile WORD gTx2Cntr, gTx2Ptr;
volatile bit gTx2BufferFull;
volatile BYTE gRx2Buffer2[ RX2_BUFFER_SIZE ];

volatile WORD gRx2Cntr2, gRx2Ptr;
volatile bit gRx2BufferFull;
// *********************************************************************
// PWM DEFINITIONS & GLOBAL VARIABLES
// *********************************************************************
#define OC_TIMER_PRE_SCALER 8 // OUTPUT COMPARE TIMER PRE SCALER, USED BY TIMER 3.

#define PWM_MUL (double)(FCY/OC_TIMER_PRE_SCALER/1000000) // CLOCK CYCLES PER uSECOND
#define PWM_RANGE (WORD)(PWM_MUL * 1000) // PWM RANGE IN uS
#define PWM_MID (WORD)(PWM_MUL * 1500) // PWM CNETRE IN uS
#define PWM_MIN (WORD)(PWM_MID - (PWM_RANGE/2) ) // PWM MIN
#define PWM_MAX (WORD)(PWM_MID + (PWM_RANGE/2) ) // PWM MAX
#define SERVO_MAX (int)(PWM_RANGE) // USEFULL DEFINITIONS FOR

#define SERVO_MID (int)(PWM_RANGE/2) // SERVO TRAVEL RANGE
#define SERVO_MIN 0 //
BYTE gMuxAddress; // PWM MULTIPLEXOR ADDRESS, 0 to 5

BYTE gServoEnable[24]; // SERVO ENABLE ARRAY, NON ZERO + ENABLE PWM OUTPUT
WORD gServoPos[24]; // SERVO POSITION ARRAY.
// CONSTANT SERVO REMAP ARAY
// THIS ARRAY IS THE CONFIGURATION FOR THE p.Brain-SMB
// MOTHERBOARD.
const BYTE cServoRemap[24] = {0,1,2,3,8,9,10,11,16,17,18,19,23,20,21,22,15,12,13,14,7,4,5,6};
// *********************************************************************
// USEFULL DELAY MACROS
// *********************************************************************
#define dly1u NOP();NOP();NOP();NOP();NOP();NOP();NOP();NOP()

#define dly500n NOP();NOP();NOP();NOP()
// *********************************************************************
// FUNCTION PROTOTYPES
// *********************************************************************
void Initialise( void );
void putch( char pC ); // SERIAL ROUTINES

char getch( void );
char getche( void );
int kbhit( void );
void interrupt tx2isr( void );
void interrupt rx2isr( void );
void i2cWaitForIdle( void ) // EEPROM ROUTINES

void i2cStart( void )
void i2cRepStart( void )
void i2cStop( void )
BYTE i2cRead( BYTE pAck )
WORD i2cWrite( BYTE pData )
void my_eeprom_write_byte( WORD pAddr, BYTE pData )
BYTE my_eeprom_read_byte( WORD pAddr )

Page 14/30
void my_eeprom_write_buffer( WORD pAddr, BYTE *pData )
void DelayUs( WORD pDelay ) // DELAY ROUTINES

void DelayMs( WORD pDelay )
// *********************************************************************
// MAIN CODE
// *********************************************************************
void main()
{
BYTE lT;
int lI;
// SETUP THE CLOCK PLL (PHASE LOCKED LOOP).

// THRE ARE CERTAIN RESTRICTIONS TO THE CLOCK SPEED AT EACH STAGE
// OF THE PLL:
// PLLPRE : CLK MUST BE BETWEEN 0.8 > 8.0Mhz HERE
// PLLFBD : ( MUL FACTOR ) CLK MUST BE 100 > 200 Mhz Here
// PLLPOST : PLL OUTPUT CLK MUST BE 12.5 > 80 Mhz.
// WITH OUR INPUT CLOCK OF 8Mhz

CLKDIV = 0; // PLLPRE = /2 = 4Mhz
PLLFBD = 0x001e; // PLL x 32 = 128Mhz
PLLPOST1 = 1; // PLLPOST = /4 = 32Mhz
While( !LOCK ) // NOW WE SHOULD WAIT FOR THE PLL TO LOCK.

continue;
Initialise(); // CONFIGURE OUR PORTS & HARDWARE
GRN_LED = 1; // MAIN PROGRAMME BEGINS HERE
U2RXIE = 1; // ENABLE UART2 RECEIVER INTERRUPTS

RS232_EN = 0; // ENABLE RS232 TRANSCEIVER
// DISPLAY MESSAGE
printf(“Hello World!\r\n\r\nPress SPACE bar to continue.”);
while( 1 ) // WAIT FOR SPACE BAR

{
if( kbhit() ) // WAS KEYBOARD HIT?
{
lC = getche(); // GET & CHECK KEY
if( lC == ' ' )
break;
}
}
lI = 0;
while(1) // LOOP
{
if( T1IF )
{
T1IF = 0; // RESET T1 FLAG
RED_LED ^= 1; // FLASH LED
// FILL THE SERVO BUFFER WITH SOME SERVO DATA

// THIS ROUTINE JUST MOVES THE SERVOS BACK AND FORWARD
// THROUGH THEIR FULL RANGE.
if( gServoBuffer[0] == SERVO_MAX )

lI = -1;
else if( gServoBuffer[0] == SERVO_MIN )
lI = 1;

Page 15/30
for( lT = 0; lT < 24; lT++ )
gServoBuffer[ lT ] += lI;
// COPY & RE-MAP SERVO DATA TO gServoPos BUFFER

DistributeServoOutputs( &gServoBuffer );
StartPWMFrame(); // START PWM FRAME

}
}

Page 16/30
Port & Hardware Initialisation
The following example demonstrates the initialization of the processor ports and hardware
configuration registers. This function is called “Initialise()”
void Initialise( void )

{
// ****************************************************************
// PORT SETUP
// ****************************************************************
PORTB = 0;
PORTC = 0;
PORTD = 0;
PORTF = 0;
PORTG = 0;
TRISB = PORTB_SETUP; // CONFIGURE PORT FOR I/O

TRISC = PORTC_SETUP;
TRISD = PORTD_SETUP;
TRISF = PORTF_SETUP;
TRISG = PORTG_SETUP;
CNEN1 = 0; // CHANGE NOTIFICATION ENABLE REGISTER

CNEN2 = 0;
CNPU1 = PORT_CNPU1; // CHANGE NOTIFICATION PULL-UPS ENABLE REGISTER
CNPU2 = PORT_CNPU2;
ODCD = 0; // ALL PORTS ARE NOT OPEN DRAIN

ODCF = 0;
ODCG = 0;
// ****************************************************************
// INTERRUPT SETUP
// ****************************************************************
INTCON1 = 0; // CLEAR INTERRUPT CONTROL REGISTERS

INTCON2 = 0;
IFS0 = 0; // CLEAR ALL INTERRUPT REQUEST FLAG REGISTERS

IFS1 = 0;
IFS2 = 0;
IFS3 = 0;
IFS4 = 0;
IEC0 = 0; // CLEAR ALL INTERRUPT ENABLE CONTROL REGISTERS

IEC1 = 0;
IEC2 = 0;
IEC3 = 0;
IEC4 = 0;
IPC0 = 0; // CLEAR ALL INTERRUPT PRIORITY REGISTERS

IPC1 = 0;
IPC2 = 0;
IPC3 = 0;
IPC4 = 0;
IPC5 = 0;
IPC6 = 0;
IPC7 = 0;
IPC8 = 0;
IPC9 = 0;
IPC10 = 0;
IPC11 = 0;
IPC12 = 0;
IPC13 = 0;
IPC14 = 0;
Page 17/30
IPC15 = 0;
IPC16 = 0;
IPC17 = 0;
// ****************************************************************
// TIMER MODULES SETUP
// ****************************************************************
// TIMER 1 CONFIGURED AS MAIN LOOP TICK TIMER
T1CON = 0; //
T1CKPS0 = 1; // PRESCALER 1:8
PR1 = TIMERVAL;
T1ON = 1; // T1 ON
// T3 USED BY OC/PWM GENERATION.

// USED AS INTERRUPT WHEN ALL FOUR OC/PWM OUTPTUS ARE DISABLED
// SO AS TO CREATE NEXT PWM FRAME.
T3CON = 0;
T3CKPS0 = 1; // PRESCALER 1:8
PR3 = 0xffff;
T3IP0 = 1; // T3 INTERRUPT PRIORITY 3
T3IP1 = 1;
T3IP2 = 0;
T3ON = 1; // T3 ON
T2CON = 0; // UNUSED TIMERS

T4CON = 0;
T5CON = 0;
T6CON = 0;
T7CON = 0;
T8CON = 0;
T9CON = 0;
// ****************************************************************
// INPUT CAPTURE SETUP
// ****************************************************************
IC1CON = 0; // ALL INPUT CAPTURES OFF

IC2CON = 0;
IC3CON = 0;
IC4CON = 0;
IC5CON = 0;
IC6CON = 0;
IC7CON = 0;
IC8CON = 0;
// ****************************************************************
// OUTPUT COMPARE SETUP
// ****************************************************************
OC1CON = 0; // OUTPUT COMPARE 1

OC1_TSEL = 1; // USE TIMER3
OC1IP0 = 0; // INTERRUPT PRIORITY 2
OC1IP1 = 1;
OC1IP2 = 0;

OC2IP1 = 1;
OC2IP2 = 0;

Page 18/30
OC3IP1 = 1;
OC3IP2 = 0;

OC5CON = 0; // UNUSED OUTPUT COMARE
OC6CON = 0;
OC7CON = 0;
OC8CON = 0;
// ****************************************************************
// SPI MODULE SETUP
// ****************************************************************
SPI1STAT = 0; // UNUSED
SPI2STAT = 0;
// ****************************************************************
// I2C MODULE SETUP
// ****************************************************************
I2C1CON = 0; // I2C1 CONFIGURATION

I2C1STAT = 0;
I2C1_EN = 1; // ENABLE
// CALCULATE BIT RATE
I2C1BRG = ((FCY/400000) - (FCY/1111111)) - 1;
I2C1_BCL = 0; // CLEAR BUS COLLISION FLAG
I2C1MSK = 0; // CLEAR MASK
I2C1ADD = 0; // CLEAR ADDRESS
// ****************************************************************
// DATA CONVERTER INTERFACE MODULE SETUP
// ****************************************************************
DCICON1 = 0; // UNUSED
// ****************************************************************
// ADC
// ****************************************************************
AD1CON1 = 0; // UNUSED
AD1CON2 = 0;
AD1CON3 = 0;
AD1CON4 = 0;
AD1CHS123 = 0;
AD1CHS0 = 0;
AD1PCFGL = 0xffff; // ADC PORT PIN CONFIG: 0 = ADC, 1 = DIG.

AD1PCFGH = 0xffff; // ADC PORT PIN CONFIG: 0 = ADC, 1 = DIG.
// ****************************************************************
// UART1 SETUP
// ****************************************************************
U1MODE = 0; // UART1 CONFIGURATION

U1_SPEN = 1; // ENABLE
U1STA = 0; // CLEAR STATUS REGISTER
U1_TXEN = 1; // ENABLE TX
U1_WAKE = 1; // UART WILL WAKE PROCESSOR FROM IDLE MODE
U1BRG = B38400; // SET BAUD RATE
U1TXIP0 = 1; // TX INTERRUPT PRIORITY 1

U1TXIP1 = 0;
U1TXIP2 = 0;
U1_TXISEL0 = 1; // 0 = INT UPON TRANSFER TO SHIFT REG.
Page 19/30
// 1 = INT UPON FIFO EMPTIED.
U1RXIP0 = 0; // RX PRIORITY 6
U1RXIP1 = 1;
U1RXIP2 = 1;
U1_RCISEL0 = 0; // INT UPON BYTE RECEIVED

U1_RCISEL1 = 0; //
// ****************************************************************
// UART 2 SETUP
// ****************************************************************
U2MODE = 0; // UART2 CONFIGURATION

U2_SPEN = 1; // ENABLE
U2STA = 0; // CLEAR STATUS REGISTER
U2_TXEN = 1; // TX ENABLE
U2_WAKE = 1; // UART WILL WAKE PROCESSOR FROM IDLE MODE
U2BRG = B38400; // SET BAUD RATE
U2TXIP0 = 1; // TX INTERRUPT PRIORITY 1

U2TXIP1 = 0;
U2TXIP2 = 0;
U2_TXISEL0 = 1; // 0 = INT UPON TRANSFER TO SHIFT REG.
// 1 = INT UPON FIFO EMPTIED.
U2RXIP0 = 0; // RX INTERRUPT PRIORITY 6

U2RXIP1 = 1;
U2RXIP2 = 1;
U2_RCISEL0 = 0; // INT UPON BYTE RECEIVED

U2_RCISEL1 = 0;
// SWITCH OFF ALL UNUSED PERIPHERALS. 0 = ON 1 = OFF

// T5MD T4MD T3MD T2MD T1MD QEIMD PWMMD DCIMD
// I2C1MD U2MD U1MD SPI2MD SPI1MD C2MD C1MD AD1MD
PMD1 = 0b1000011100011110;
// IC8MD IC7MD IC6MD IC5MD IC4MD IC3MD IC2MD IC1MD

// OC8MD OC7MD OC6MD OC5MD OC4MD OC3MD OC2MD OC1MD
PMD2 = 0b1111111111110000;
// T9MD T8MD T7MD T6MD — — — — — — — — — — I2C2MD AD2MD
PMD3 = 0b1111111111111111;

Page 20/30
RS232 Communications
In this example interrupt driven communications will be configured for the RS232 serial port
on UART2. The following are high level serial port functions:
//**************************************************************************
// PUTCH USED BY PRINTF COMMANDS TO TERMINAL PORT
//**************************************************************************
void putch( char pC )

{
while( gTx2Cntr == TX2_BUFFER_SIZE ) // WAIT FOR SPACE IN BUFFER
{
gTX2BufferFull = 1;
U2TXIE = 1;
}
U2TXIE = 0; // DISABLE TX INTERRUPTS

NOP();
gTx2Buffer[ gTx2Ptr ] = pC; // STORE CHAR IN FIFO BUFFER
gTx2Ptr++; // INC BUFFER POINTER
gTx2Ptr &= TX2_BUFFER_SIZE-1; // AND MASK.
gTx2Cntr++; // INC BUFFER COUNT
U2TXIE = 1; // ENABLE TX INTERRUPTS
}
//**************************************************************************
// GETCHE GET BYTE FROM TERMINAL SERIAL PORT
//**************************************************************************
char getch( void )

{
char lC;
// WAIT FOR A BYTE IN THE BUFFER
while( !gRx2Cntr )
continue;
U2RXIE = 0; // DISABLE RX INTERRUPT

NOP();
// GET BYTE FROM FIFO BUFFER
lC = gRx2Buffer[ ( gRx2Ptr – gRx2Cntr ) & RX2_BUFFER_SIZE-1 ];
gRx2BufferFull = 0; // CLEAR BUFFER FULL FLAG
gRx2Cntr--; // DEC BUFFER COUNTER
U2RXIE = 1; // ENABLE RX INTERRUPTS
return lC; // RETURN CHAR

}
//**************************************************************************
// GETCHE GET BYTE FROM TERMINAL SERIAL PORT AND ECHO BACK
//**************************************************************************
char getche( void )

{
char lC;
lC = getch();
putch( lC );
return lC;
}
//**************************************************************************
// KBHIT FUNCTION, EG. ARE THERE ANY BYTES IN RX FIFO
//**************************************************************************
int kbhit( void )

{
return gRx2Cntr; // RETURN THE FIFO BUFFER COUNTER
Page 21/30
}
Now for the interrupt service routines:
//**************************************************************************
// UART2 TX ISR
//**************************************************************************
void interrupt tx2isr( void ) @ U2TX_VCTR

{
if( U2TXIF ) // IS THE TXIF FLAG SET? IT SHOULD BE!
{
while( !U2_TXBF && tx_cntr2 ) // SPACE IN THE UART FIFO? & DATA TO TRANSMIT?
{
// LOAD THE UART BUFFER WITH NEW DATA FROM FIFO BUFFER
U2TXREG = gTx2Buffer[ ( gTx2Ptr – gTx2Cntr ) & TX2_BUFFER_SIZE-1 ];
gTx2BufferFull = 0; // CLEAR BUFFER FULL FLAG
gTx2Cntr--; // DEC BUFFER COUNTER
if( !gTx2Cntr) // IF THERE ARE NO MORE BYTES IN THE FIFO BUFFER

{
U2TXIE = 0; // DISABLE TX INTERRUPTS
}
}
U2TXIF = 0; // CLEAR THE TX INTERRUPT FLAG

}
//**************************************************************************
// UART2 RX ISR
//**************************************************************************
void interrupt rx2isr( void ) @ U2RX_VCTR

{
BYTE lC;
if( U2RXIF ) // IS THE RX INTERUPT FLAG STE? IT SHOULD BE!

{
while( U2_URXDA ) // WHILE THRE IS DATA IN THE UART FIFO
{
if(U2_FERR) // WAS THE DATA CORRUPT?
{
lC = U2RXREG; // YES, SO ABSORB DATA
}
else
{
lC = U2RXREG; // NO, SO STORE DATA IN FIFO BUFFER
if( gRx2Cntr == RX2_BUFFER_SIZE )
{
gRx2BufferFull = 1;
}
else
{
gRx2Buffer[ gRx2Ptr ] = lC;
gRx2Ptr++;
gRx2Ptr &= RX2_BUFFER_SIZE-1;
gRx2Cntr++;
}
}
}
U2RXIF = 0; // CLEAR RX INTERRUPT FLAG
}
}

Page 22/30
EEPROM Read & Write
These examples demonstrate how to read and write to the on-board EEPROM. First we define
the low level I2C access functions:
//******************************************************************************************
// WAIT FOR I2C IDLE STATE
//******************************************************************************************
void i2cWaitForIdle( void )

{
while( (I2C1CON & 0x001f) | I2C1_TRSTAT )

continue;
}
//******************************************************************************************
// START I2C
//******************************************************************************************
void i2cStart()
{
i2cWaitForIdle();
I2C1_SEN = 1;
}
//******************************************************************************************
// I2C REPEAT START
//******************************************************************************************
void i2cRepStart()
{
i2cWaitForIdle();
I2C1_RSEN = 1;
}
//******************************************************************************************
// I2C STOP
//******************************************************************************************
void i2cStop()
{
i2cWaitForIdle();
I2C1_PEN = 1;
}
//******************************************************************************************
// I2C READ BYTE
//******************************************************************************************
BYTE i2cRead( BYTE pAck )

{
BYTE lData;
i2cWaitForIdle();
I2C1_RCEN=1;
i2cWaitForIdle();

Page 23/30
lData = I2C1RCV;
i2cWaitForIdle();
if ( pAck )
I2C1_ACKDT = 0;
else
I2C1_ACKDT = 1;
I2C1_ACKEN = 1; // SEND ACKNOWLEDGE SEQUENCE
return( lData );
}
//******************************************************************************************
// I2C WRITE DATA
//******************************************************************************************
WORD i2cWrite( BYTE pData )

{
i2cWaitForIdle();
I2C1TRN = pData;
return ( !I2C1_ACKSTAT ); // RETURNS 1 IF TX IS ACKNOWLEDGED

}
High level EEPROM functions used for storing BYTE data etc:
// ************************************************************************************
// WRITE EEPROM BYTE
// ************************************************************************************
void my_eeprom_write_byte( WORD pAddr, BYTE pData )

{
EE_WP = 0; // DISABLE EEPROM WRITE PROTECT
i2cStart(); // START I2C

i2cWrite( 0xa0 ); // WRITE EEPROM ADDRESS
i2cWrite( pAddr >> 8 ); // WRITE EEPROM DATA ADDRESS
i2cWrite( pAddr & 0xff );
i2cWrite( pData); // WRITE EEPROM DATA
i2cStop(); // START THE DATA ERASE WRITE CYCLE.
DelayUs(6000); // WAIT FOR WRITE TO END. 6000uS
EE_WP = 1; // ENABLE EEPROM WRITE PROTECT

}
// ************************************************************************************
// READ EEPROM DATA
// ************************************************************************************
BYTE my_eeprom_read_byte( WORD pAddr )

{
BYTE pData;

i2cWrite( 0xa0 ); // WRITE EEPROM ADDRESS
i2cWrite( (addr >> 8) ); // WRITE DATA ADDRESS
i2cWrite(addr & 0xff);
i2cRepStart(); // REPEAT START CONDITION
i2cWrite(0xa1); // WRITE READ COMMAND
pData = i2cRead(0); // READ DATA
i2cStop(); // STOP I2C
return( pData );

Page 24/30
}
// ************************************************************************************
// WRITE EEPROM 32 BYTE BUFFER
// ************************************************************************************
// MUST NOT CROSS PAGE BOUNDARY OF 32, EG ONLY 5 LOWER ADDRESS BITS ARE INTERNALY
// INCREMENTED.
void my_eeprom_write_buffer( WORD pAddr, BYTE *pData )

{
BYTE pT;
EE_WP = 0; // DISABLE EEPROM WRITE PROTECT

i2cWrite( 0xa0 ); // WRITE EEPROM COMMAND
i2cWrite( pAddr >> 8 ); // WRITE DATA ADDRESS START
i2cWrite( pAddr & 0xff );
for( pT = 0; pT < 32; pT++ ) // WRITE 32 BYTES OF DATA
i2cWrite(*pData++);
i2cStop(); // START THE DATA ERASE WRITE CYCLE.
DelayUs(6000); // WAIT FOR WRITE TO END. 6000uS
EE_WP = 1; // ENABLE EEPROM WRITE PROTECT

}

Page 25/30
Delay Routines
These functions are used for inserting milisecond or microsecond delays.
// ************************************************************************************
// DELAY MICRO SECONDS. NEEDS ADJUSTING FOR DIFFERENT PROCESSOR SPEEDS
// ************************************************************************************
void DelayUs( WORD pDelay )

{
while(--pDelay > 0)
{
NOP();
NOP();
NOP();
NOP();
NOP();
NOP();
NOP();
NOP();
NOP();
}
}
// ************************************************************************************
// DELAY MILLI SECONDS.
// ************************************************************************************
void DelayMs( WORD pDelay )

{
WORD lI;
while (pDelay--)
{
CLRWDT();
lI = 4;
while(lI--)
{
DelayUs( 250 ); // ADJUST FOR ERROR
}
}
}

Page 26/30
PWM Multiplexor
This example demonstrates how to configure the interrupt service routines for the PWM
multiplexor block. For the purpose of this example, each PWM frame will be started in the main
programme loop, once the frame is started, the output compare ISR's will continiue until all 24
PWM channels are complete. There are four multiplexors, each with six outputs giving 24
channels of PWM, using multiplexing techniques, PWM signals are created in banks of four, one
ofr each of the four Output Compare registers. See the schematic of the PWM block for further
details.
Variables used by the PWM multiplexor:
PWM Definitions
Output compare interrupt service routines:
// *******************************************************
// OC1 ISR
// *******************************************************
void interrupt oc1_isr( void ) @ OC1_VCTR

{
OC1IE = 0; // DISABLE OCx INTERRUPTS
OC1IF = 0; // CLEAR INTERRUPT FLAG
NextPWMBank(); // CHECK NEXT PWM BANK
}
// *******************************************************
// OC2 ISR
// *******************************************************

{
OC2IE = 0;
OC2IF = 0;
NextPWMBank();
}
// *******************************************************
// OC3 ISR
// *******************************************************

{
OC3IE = 0;
OC3IF = 0;
NextPWMBank();
}
// *******************************************************
// IF ALL 4 PWM OUTPUTS IN THE CURRENT BANK ARE DISABLED
// THIS TIMER IS USED TO FORCE AN INTERRUPT TO START
// THE NEXT PWM BANK.
// *******************************************************
Void interrupt tmr3_isr( void ) @ T3_VCTR

{
T3IF = 0; // CLEAR INTERRUPT FLAG
T3IE = 0; // DISABLE INTERRUPT
NextPWMBank(); // CHECK NEXT PWM BANK
}

Page 27/30
// *******************************************************
// USED TO START THE PWM FRAME, SETS MUX ADDRESS TO 0
// *******************************************************
void StartPWMFrame( void )

{
T3ON = 0; // SWITCH TIMER OFF

TMR3 = 0;
if( OC1IE || OC2IE || OC3IE ) // CHECK FOR FRAME RATE ERROR

{
// IF ANY OF THE OCIE BITS IS SET WHEN THIS FUNCTION
// IS CALLED, SOMETHING HAS EITHER GONE WRONG, OR THE
// PWM REFRESH RATE IS TOO HIGH. STARTING A NEW FRAME
// BEFORE THE OLD FRAME HAS FINISHED WILL CAUSE SERVO
// GLITCHES AND OTHER ISSUES!
// AT THIS POINT IT IS DOWN TO THE USER TO DECIDE WHAT TO DO!

// SET ERROR FLAG, OR RETURN ETC..
// PWM_error_flag = 1;
// return;
}
OC1IE = 0; // DISABLE ALL OC INTERRPUTS, INCASE WE IGNORE THE ABOVE ERROR CONDITION
OC2IE = 0;
OC3IE = 0;
gMmuxAddress = 0; // SET MUX ADDRESS TO 0
MUX_A2 = 0;NOP(); // IF A2 AND A1 ARE CHANGED WITHOUT AN OP BETWWEN THEM,

MUX_A0 = 0;NOP(); // THE SECOND WILL NOT TAKE EFFECT. OLD PIC BUG ABOUT
MUX_A1 = 0;NOP(); // NOT CHANGING PORT PINS WITHIN CONSECUTIVE INSTRUCTIONS!
SetipOCRegisters(); // CONFIGURE OC REGISTERS FOR NEXT PWM BANK
T3ON = 1; // START TIMER 3
// ***********************************************************************************
// THIS FUNCTION CONFIGURESS THE OC REGISTERS WITH THE NEXT BANK OF PWM VALUES
// EACH PWM START TIME IS OFFSET BY A SMALL AMOUNT DEFINED BELOW. THIS IS TO REDUCE
// SIGNAL NOISE ON THE P.BRAIN, BUT IS NOT ENTIRELY NECESSARY.
// ***********************************************************************************
#define PWM1_START_COUNT 2
void SetipOCRegisters( void )

{
// SETUP T3 TO INTERRUPT IN 50uS IN THE CASE THAT NONE OF THE CURRENT PWM BANK SERVOS
// ARE ENABLED. IF ANY OF THE FOLLOWING 4 ARE ENABLED, THE T3 INTS ARE DISABLED
// AND PR3 REG SET TO MAX.
PR3 = (WORD)((double)((FCY/OC_TIMER_PRE_SCALER)/1000000.0) * (50.0)); // IN uSeconds
T3IF = 0; // CLEAR T3 INTERRUPT FLAG

T3IE = 1; // T3 INTERRUPTS ENABLED, BUT T3 IS NOT YET RUNNING.

Page 28/30
// IN ORDER TO UNDERSTAND WHY OC1 DOES SERVO CHANNELS 6 TO 11, PLEASE LOOK AT THE PWM
// MULTIPLEXOR BLOCK IN THE SCHEMATICS SECTION OF THE p.Brain-ds24 USER GUIDE.
// SETUP COMPARE REGISTERS START AND STOP TIMES.

// OCR1 = CHANELS 8 -> 15
OC1R = PWM1_START_COUNT; // CONFIGURE START TIME, EG RISING EDGE

// CONFIGURE STOP TIME, EG FALLING EDGE
OC1RS = PWM1_START_COUNT + PWM_MIN + gServoPos[ 8 + gMuxAddress ];
if( gServoEnable [ 8 + gMuxAddress ] ) // IF THE SERVO IS ENABLED

{
OC1_M2 = 1; // CONFIGURE THE OC MODE
OC1IE = 1; // ENABLE OC INTERRUPTS
T3IE = 0; // DISABLE T3 INTERRUPTS
PR3 = 0xffff; // RESET PR3 TO MAXIMUM
}
// OCR2 = CHANELS 16 -> 23

OC2R = PWM2_START_COUNT;
OC2RS = PWM2_START_COUNT + PWM_MIN + gServoPos[ 16- gMuxAddress ];
if( gServoEnable [ 16 - gMuxAddress ] )
{
OC2_M2 = 1;
OC2IE = 1;
T3IE = 0;
PR3 = 0xffff;
}
// OCR3 = CHANELS 0 -> 7

OC3R = PWM3_START_COUNT;
OC3RS = PWM3_START_COUNT + PWM_MIN + gServoPos[ gMuxAddress ];
if( gServoEnable [ gMuxAddress ] )
{
OC3_M2 = 1;
OC3IE = 1;
T3IE = 0;
PR3 = 0xffff;
}
gMuxAddress++; // INC THE MUC ADDRESS.
// ***********************************************************************************
// ONCE THE PWM FRAME HAS BEEN STARTED, THIS FUNCTION IS CALLED WITHIN EACH OC ISR
// AND WITHIN THE T3 ISR (IF ENABLED) TO DETERMINE IF THE CURRENT PWM BANK IS COMPLET
// EG, ALL FOUR PWM OUTPUTS OF THE BANK ARE FINISHED. IF ALL FOUR CHANNELS OF THE BANK
// ARE COMPLETE, IT THEN CHECKS IF THE FRAME IS COMPLETE.
// ***********************************************************************************
void NextPWMBank( void )

{
if( OC1IE || OC2IE || OC3IE ) // IF WE HAVE NOT DONE ALL 4 OUTPUTS, RETURN.
return;
T3ON = 0; // SWITCH TIMER OFF

TMR3 = 0; // CLEAR TIMER 3
// HAVE WE COMPLETED ALL CHANNELS? IF SO, THE FRAME IS COMPLETE

// SO DO NOT RESET OUTPUT COMPARE MOCULES.
if( gMuxAddress > 7 )

return;
if( gMuxAddress & 0x0001 ) // SETUP MUX ADDRESS BITS

Page 29/30
MUX_A0 = 1;
else
MUX_A0 = 0;

MUX_A1 = 1;
else
MUX_A1 = 0;

MUX_A2 = 1;
else
MUX_A2 = 0;
SetipOCRegisters(); // CONFIGURE OC REGISTERS AND START NEXT PWM BANK
T3ON = 1; // START TIMER 3

}
// ***********************************************************************************
// WHEN DESIGNING THE p.Brain-u24 MODULE, IT IS NOT ALWAYS
// POSSIBLE TO ROUTE THE PWM OUTPUTS TO THE MOTHERBOARD AREA THAT IS DESIRED, THEREFORE
// IT IS NECESSARY TO RE-MAP THE SERVO OUTPUTS IN SOFTWARE.
// ***********************************************************************************
void DistributeServoOutputs( WORD *pServoData )

{
WORD lT;
for( lT = 0; lT < 24; lT++ ) // LOOP

// PLACE SERVO DATA INTO RE-MAPPED LOCATION
gServoPos[ cServoRemap[ lT ] ] = *pServoData++;

Page 30/30
Legal
Please read fully before purchasing any merchandise from micromagic systems ltd.
PRODUCTS
In no event shall micromagic systems be liable for any claim for incidental, consequential damages, or any
injuries sustained due to the use of or improper use of products and / or kits purchased out of or in connection
thereof with the manufacture, sale, delivery or use of any product in this catalogue or web site. All micromagic
systems products purchased should NOT be used for medical, life-saving, life-support, or any applications that
could cause injury, dangerous / hazardous situations or consequential damages resulting from the use of the
mechanical, hardware or software products sold or represented by micromagic systems.
All products sold by micromagic systems are for Self Learning Experiences, and for Safe Entertainment.
Prices and Specifications
Note
Product specifications, prices listed and availability of items in our web site and in our printed catalogue are
subject to change without notice. All prices shown in our web site and in our printed catalogue are believed
accurate at time of publication, but subject to change without any notice. We will always advise you of the new
price increase and seek your approval before processing any orders you place.
General Product Terms and Conditions
Call micromagic systems before returning any items.
PRODUCT RETURNS POLICY

All sales are final.
New products are warranted for 30 days. Any return for repair or replacement must be pre-authorized by
micromagic systems and under no circumstance will returns be accepted unless so authorized. Return Products
under warranty must be pre-approved by MMS and sent via certified mail, prepaid and insured, for your
protection. (Please note we cannot refund shipping fees). All electronic kit sales are final. Due to the fact that
components of the kit may be damaged during assembly we do not accept returns or refunds on any electronic
kits
If you receive damaged merchandise, you must contact micromagic systems within 2 days of receipt of your
original order. Specify clearly the reason for your refusal. We will exchange returned merchandise for same new
merchandise, or for the item sterling amount within 7 days once we receive the returned damaged items from
you. Proof of mailing is advised, as we cannot be held responsible for loss of the returned merchandise in mail
transit. All return postage is non-refundable. The merchandise, including packing and wrapping material, being
returned should be in the same condition as when you received them. Please contact us via e-mail at
[email protected]. Defective merchandise will be replaced (No cash will be refunded). We
reserve the right to refuse to replace any merchandise, which our micromagic systems technicians determine to
be damaged by the user, or through inappropriate use of that merchandise.
WARRANTY POLICY
We guarantee all products except electronic kits to be free of defects in workmanship and material for 30 days
from the purchase, delivery date. We will repair or replace non-electronic kits (No cash will be refunded), at our
option providing there is no evidence of customer misuse or alteration to that product item.
micromagic systems carries a limited 30 day warranty on most all items, some items carry an additional
number of warranty days or special restrictions. If you want specific warranty information about a product
contact micromagic systems to obtain that information.
We are not able to offer any refunds or accept returns for the following items and products: Electronic Kits.
CANCELLATION POLICY
Please be aware that if you cancel an order you may be responsible for restocking fees and / or shipping
charges, including charges for return shipping. Cancelled orders are subject to a 25% or £10.00 minimum
restocking fee. Orders cancelled within 24 hours of order placement will not be subject to restocking fees
however this does not apply to orders with Express Shipping and Handling.


Ain - 24 V1.2 Guide V1.1

Uploaded by

Copyright:

Available Formats

Ain - 24 V1.2 Guide V1.1

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ain - 24 V1.2 Guide V1.1

Uploaded by

Copyright:

Available Formats

Animatronic & Puppet control systems for Film & Television

p.Brain-µ24 V1.2 Robot Controller - User Guide V1.1

This controller is designed for people who have an understanding of PIC

A Pre-Programmed version is available for controlling hexapod robots (p.Brain-

micromagic systems ltd • Registered in England no 3745348

 Compact size (approx 68 x 35 mm )

Connector CN1 (6pin 0.1” (2.54mm) pitch)

PIN NAME DESCRIPTION

Connector CN2 (12pin 0.1” (2.54mm) pitch)

PIN NAME DESCRIPTION

Connector CN3 ( 3 way screw terminal )

PIN NAME DESCRIPTION

Connector CN4 ( RJ11 4/4 )

PIN NAME DESCRIPTION

micromagic systems ltd • Registered in England no 3745348

RJ11 to PC DB9 (Female)

Connector CN5 (2 x 4 way 0.1” pitch sockets for ESD200 )

Jumper JP1 ( 3pin 0.1” (2.54mm) pitch)

Jumper JP2 ( 2pin 0.1” (2.54mm) pitch)

micromagic systems ltd • Registered in England no 3745348

ESD200 Installation & Configuration

micromagic systems ltd • Registered in England no 3745348

Micro controller Schematic

micromagic systems ltd • Registered in England no 3745348

Analogue Capture / Digital IO x 8

PORT PIN NAME p.Brain NAME DESCRIPTION

RB0/AN0/CN2 DIG0/AN0 Digital IO 0, Ana Chan 0

UART1 / Serial Port 1

PORT PIN NAME p.Brain NAME DESCRIPTION

SDI1/U1RX/RF2 CTRL_IN TTL Data In

PORT PIN NAME SCHEMATIC NAME DESCRIPTION

RD3 LED1 Red Led

micromagic systems ltd • Registered in England no 3745348

PORT PIN NAME EEPROM PIN DESCRIPTION

RG2/SCL1 SCL Serial Clock

UART2 / Serial Port 2

micromagic systems ltd • Registered in England no 3745348

PORT PIN NAME p.Brain NAME DESCRIPTION

CN17/U2RX/RF4 TERM_IN TTL Data In

PWM Multiplexor Schematic

PWM Multiplexor Operation

micromagic systems ltd • Registered in England no 3745348

 FPS = Servo Refresh Rate in Hz

FPS = 1 / (MAXPWM * CHANS) = 1 / ( 2m * 8) = 62.5Hz

PORT PIN NAME SCHEMATIC NAME DESCRIPTION

RD0/OC1 PWM1 Output Compare Register PWM output 1

micromagic systems ltd • Registered in England no 3745348

Software License Agreement

THIS SOFTWARE IS PROVIDED IN AN “AS IS” CONDITION. NO WARRANTIES, WHETHER

#define PIC_CLK 32000000 // CLOCK SPEED

// SOME USEFULL TYPE DEFINITIONS

const char build_title[] = {"Example"};

micromagic systems ltd • Registered in England no 3745348

__CONFIG( FOSCSEL, OSCPLL & IESODIS & TEMPEN ); // PLL ON

#pragma psect text=main

#define PORTB_SETUP 0b0000001111111111

#define PORT_CNPU1 0b0000111111111100

#define RED_LED RB14 // LED1

#define PWM1 RD0 // USED BY PWM BLOCK