RP6 ROBOT SYSTEM - 1. The RP6v2 M256 WIFI Expansion Module
The clock frequency of the ATMEGA2560 is twice as fast (16MHz) as the controller of
the RP6 main board. At the same time there is more free calculation time on the RP6-
M256 because the controller is not busy with motor regulation, ACS, IRCOMM, etc.
This page shows a simplified block diagram with the peripherals of the ATMEGA2560
controller. Among others, we recognize the AVR CPU core in the center with flash ROM
and SRAM memory together with bus connection to the peripherals. Around it there
are the numerous 8 bit I/O ports, 6 timers, 4 USARTs (serial interfaces or two dual
SPI / UART ports,), SPI, I²C Bus (TWI), A/D converter, comparator and EEPROM that
are all linked together via a bus. The clock generator and reset unit are also very im-
portant.
In addition, there are direct links from the peripherals such as timers or serial inter-
faces to the I/O ports such that these can be directly connected to external units. I.e.
for the timers the PWM outputs or for the serial interfaces the transmission and recep-
tion signals can be directly linked to the I/O ports.
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