1. RTLAB Real-Time System Self-balancing robot School of Electronics Engineering College of IT Engineering Kyungpook National University Jun Sang ho (Rm) IT1-501 (T) 053-940 8864 (E) zesto@knu.ac.kr (W) rtlab.knu.ac.kr Hardware part

2. 26 November 2010 #2 RTLAB Real-Time System Content  Motor part  Sensor part  Further work  Q & A

3. 26 November 2010 #3 RTLAB Real-Time System Motor part Ethernet CAN UART Motor Sensor Motor driver LED Extended sensor port AT91SAM7x256 LCD Extended sensor port MLX10402

4. 26 November 2010 #4 RTLAB Real-Time System Motor part(Cont.) AT91SAM3S256 Sensor Motor Motor Driver LCD & Key USB ATMega48 Buzzer

5. 26 November 2010 #5 RTLAB Real-Time System Motor part(Cont.)  Current operation method : polling method  Proposal operation method –Interrupt method : PWM_IMR, PWM_IER, PWM_IDR.  Reference : ESPS(AT91SAM7x256) PWM Controller Operations(p.428)

6. 26 November 2010 #6 RTLAB Real-Time System Sensor part Gyro sensor ATMega48

7. 26 November 2010 #7 RTLAB Real-Time System Sensor part(Cont.) Input (oriented MCU) Output RCX 센서 출력 전압

8. 26 November 2010 #8 RTLAB Real-Time System Further works  Drawing schematic for PCB design by using the Cadence OrCAD program create the SAM3S4C (Cortex-M3) library create the driver/controller library drawing the selected peripheral - Sensor part - PWM part - LCD part - JTAG part - Transceiver part - Power part - UART(Debug) part - MCU part

9. 26 November 2010 #9 RTLAB Real-Time System Q & A Thank you