410-295P-KIT - DIGILENT - Datasheet.Live

K™

™

Revision: December 15, 2011

Note: This document applies to REV C of the board. 1300 Henley Court | Pullman, WA 99163

(509) 334 6306 Voice and Fax

Doc: 502-220 page 1 of 35

Overview

The Cerebot MX4cK is a microcontroller

development board based on the Microchip

PIC32MX460F512L, a member of the 32-bit

PIC32 microcontroller family. It is compatible

with Digilent’s line of Pmod™ peripheral

modules, and is suitable for use with the

Microchip MPLAB

IDE tools. The Cerebot

MX4cK is also compatible for use with the

chipKIT™ MPIDE development environment.

ChipKIT and MPIDE is a PIC32 based system

compatible with many existing Arduino™ code

examples, reference materials and other

resources.

The Cerebot MX4cK is designed to be easy to

use and suitable for use by anyone from

beginners to advanced users for experimenting

with electronics and embedded control

systems. A built in programming/debugging

circuit compatible with the Microchip MPLAB

IDE is provided on the board, so no additional

hardware is required for use with MPLAB. The

kit contains everything needed to start

developing embedded applications using either

the MPLAB

IDE or the MPIDE.

The Cerebot MX4cK provides 74 I/O pins that

support a number of peripheral functions, such

as USB controller, UART, SPI and I

C™ ports

as well as five pulse width modulated outputs

and five external interrupt inputs. Fifteen of the

I/O pins can be used as analog inputs in

addition to their use as digital inputs and

outputs.

The Cerebot MX4cK can be powered via USB,

or an external power supply that may be either

an AC-DC power adapter, or batteries.

Cerebot MX4cK Circuit Diagram

Cerebot MX4cK Reference Manual

www.digilentinc.com page 2 of 35

Functional Description

The Cerebot MX4cK is designed for embedded

control and robotics control applications as well

as for general microprocessor experimentation.

Firmware suitable for many applications can be

downloaded to the Cerebot MX4cK’s

programmable PIC32 microcontroller.

Features of the Cerebot MX4cK include:

• a PIC32MX460F512L microcontroller

• support for programming and

debugging within the Microchip MPLAB

development environment

• nine Pmod connectors for Digilent

peripheral module boards

• eight hobby RC servo connectors

• USB 2.0 Device, Host, and OTG

support

• two push buttons

• four LEDs

• multiple power supply options, including

USB powered

• ESD protection and short circuit

protection for all I/O pins.

Features of the PIC32MX460F512L include:

• 512KB internal program flash memory

• 32KB internal SRAM memory

• USB 2.0 compliant full-speed On-The-

Go (OTG) controller with dedicated

DMA channel

• two serial peripheral interfaces (SPI)

• two UART serial interfaces

• two I2C serial interfaces

• five 16-bit timer/counters

• five timer capture inputs

• five compare/PWM outputs

• sixteen 10-bit analog inputs

• two analog comparators

The Cerebot MX4cK has a number of

input/output connection options, and is

specially designed to work with the Digilent

Pmod™ line of peripheral modules to provide a

variety of input and output functions. For more

information, see www.digilentinc.com. In

addition to the Pmod connectors, the board

provides eight connectors for RC hobby

servos, two push button switches, and four

LEDs, as well as providing connections for two

I2C busses. A serial EEPROM and a 12-bit

digital to analog converter are provided on one

of the I2C busses.

The Cerebot MX4cK features a flexible power

supply system with a number of options for

powering the board as well as powering

peripheral devices connected to the board. It

can be USB powered via either the debug USB

port or the USB device port, or it can be

powered from an external power supply or

batteries.

Programming Tools

The Cerebot MX4cK can be used with either

the Microchip MPLAB

development

environment or the chipKIT MPIDE

development environment. When used with the

MPLAB IDE, in-system-programming and

debugging of firmware running on the

PIC32MX460 microcontroller is supported

using an on-board programming/debugging

circuit licensed from Microchip.

The Cerebot MX4cK is immediately useable

with either the MPLAB IDE or the chipKIT

MPIDE. No additional hardware is required to

use the board with the Microchip MPLAB tools.

Using the Cerebot MX4cK with

Microchip Development Tools

The Microchip MPLAB

IDE or the MPLAB

IDE can be used to program and debug code

running on the Cerebot MX4cK board using a

built-in programming/debugging circuit licensed

from Microchip.

The MPLAB programs can be freely

downloaded from the Microchip web site.

These software suites include a free evaluation

Cerebot MX4cK Reference Manual

www.digilentinc.com page 3 of 35

copy of the Microchip C32 compiler for use

with the PIC32 microcontroller family. The

licensed debugger is compatible with the

MPLAB IDE version 8.63 or later.

When creating a new project, use the

“Configure.Select Device…” menu to specify the

PIC32 device being used. Ensure that the

device is set to PIC32MX460F512L.

In order to use the on-board program/debug

circuit it must be selected as the debugger or

programmer within the MPLAB IDE. Use the

“Debugger.Select Tool” menu, or the

“Programmer.Select Tool” menu, and select

“Licensed Debugger” as the programmer or

debugger.

The licensed debugger interface uses USB

connector J9, labeled DEBUG. Connector J9 is

a USB micro-B connector. Use a USB-A to

micro-B cable (provided with the board) to

connect to an available USB port on the PC.

When the licensed debugger is selected as the

programming or debugging device, the MPLAB

IDE will check the version number of the

firmware running on the debugger and offer to

update it if is out of date with the version of

MPLAB being used.

The in-system programming/debugging

interface uses two pins on the PIC32

microcontroller. The PIC32 devices support

two alternate pin pairs for this interface:

PGC1/PGD1 or PGC2/PGD2. PIC32 devices

use PGC2/PGD2 by default. The Cerebot

MX4ck is designed to use PGC2/PGD2. It is

not normally necessary to select the use of

PGC2/PGD2 for the debugging interface, as

this should occur automatically.

If for some reason, it is necessary to select the

correct pins for the programming/debugging

interface, this can done using configuration

variables set using the

#pragma config

statement. The following statement can be

used to configure the microcontroller for use

with the on-board licensed debugger circuit:

#pragma config ICESEL = ICS_PGx2

The MPLAB IDE may report an error indicating

that the device is not configured for debugging

until the first time a program is loaded onto the

board.

The MCLR pin on the PIC32 microcontroller is

used by the hardware programming/debugging

interface to reset the processor. This same pin

is used by the USB serial converter to reset the

processor when using the MPIDE. It is possible

that the reset function from the USB serial

interface can interfere with correct operation of

the Microchip programming and debugging

tools. If this happens, jumper JP8 can be used

to disconnect the USB serial converter reset

circuit. Remove the shorting block from JP8 to

disable the reset circuit. If the shorting block

has been removed, it is necessary to reinstall it

on JP8 in order to use the Cerebot MX4cK

board with the MPIDE again.

Using the Microchip development tools to

program the Cerebot MX4cK will erase the

chipKIT boot loader. To use the board with the

chipKIT MPIDE again, it is necessary to

program the boot loader back onto the board.

The programming file for the boot loader

programmed into the board by Digilent at the

factory is available for download from the

product page for the Cerebot MX4cK on the

Digilent web site. Additionally, the boot loader

source code is available in the chipKIT project

repository at www.github.com/chipKIT32/pic32-

Arduino-Bootloader.

To reprogram the boot loader using MPLAB,

perform the following steps:

• Use the “Configure.Select Device …” menu to

select the PIC32MX460F512L

• Use the “Programmer.Select Programmer”

menu to select the “Licensed Debugger”.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 4 of 35

• Use the “File Import…” dialog box to

navigate to and select the boot loader

programming downloaded from the Digilent

web site. The file name will be something

like: chipKIT_Bootloader_MX4cK.hex

• Use the “Programmer.Program” command to

program all memories on the device.

Using the Cerebot MX4cK with the

chipKIT MPIDE

ChipKIT and the MPIDE is a PIC32 based

hardware and software system compatible

with

many existing Arduino™

code examples, reference

materials and other resources. The MPIDE

development platform was produced by

modifying the Arduino™ IDE and is fully

backward compatible with the Arduino IDE.

The Cerebot MX4cK board is designed to be

fully compatible with the chipKIT MPIDE

system, version 20111209 or later.

The MPIDE uses a serial communications port

to communicate with a boot loader running in

the target board. The serial port on the MX4cK

board is implemented using an FTDI FT232R

USB serial converter. Before attempting to use

the MPIDE to communicate with the MX4cK,

the appropriate USB device driver must be

installed.

The USB serial converter on the Cerebot

MX4cK board uses USB connector J8, labeled

UART on the board. This connector is a micro-

USB. Use a standard USB-A to mini-B cable

(provided with the board) to connect the board

to an available USB port on the PC.

In the MPIDE, use the “Tools.Board” command

to select the Cerebot MX4cK from the list of

available boards. Use the “Tools.Serial Port”

command to choose the appropriate serial port

from the list of available serial ports on the PC.

When the MPIDE needs to communicate with

the MX4cK board, the PIC32 microcontroller is

reset and starts running the boot loader. The

MPIDE then establishes communications with

the boot loader and downloads the program to

the board.

When the MPIDE opens the serial

communications connection on the PC, the

DTR pin on the FT232R chip is driven low.

This pin is coupled through a capacitor to the

MCLR pin on the PIC32 microcontroller.

Driving the MCLR line low resets the

microcontroller, restarting execution with the

boot loader.

Once the MPIDE has established

communication with the boot loader, it

transfers the user’s program to the boot loader,

which programs it into the flash memory in the

Microcontroller.

The automatic reset action when the serial

communications connection is opened can be

disabled. To disable this operation, remove the

shorting block from jumper JP8. The shorting

block is reinstalled on JP8 to restore operation

with the MPIDE.

Two red LEDs (LD7 and LD8) will blink when

data is being sent or received between the

Cerebot MX4cK and the PC over the serial

connection.

The header connector J7 provides access to

the other serial handshaking signals provided

by the FT232R. Connector J7 is not loaded at

the factory but can be installed by the user to

access these signals.

Additional Reference Documentation

For additional information about the Cerebot

MX4cK board and the use and operation of the

PIC32MX460F512L microcontroller, refer to

the following documents in addition to this

reference manual.

The Cerebot MX4cK Schematic, available on

the Cerebot MX4cK product page on the

Digilent web site: www.digilentinc.com

Cerebot MX4cK Reference Manual

www.digilentinc.com page 5 of 35

The PIC32MX3XX/4XX Family Data Sheet and

the PIC32MX Family Reference Manual

available from the Microchip web site:

www.microchip.com

Additional reference material for the chipKIT

MPIDE system is included in the MPIDE

software download, and on-line in the chipKIT

wiki. Help with questions and problems using

the board with the chipKIT MPIDE software

can also be obtained in the chipKIT forums:

www.github.com/chipKIT32 (software

download)

www.chipKIT.org/wiki

www.chipKIT.org/forum

Cerebot MX4cK Reference Manual

www.digilentinc.com page 6 of 35

Board Hardware Description

The following describes the various hardware

features of the Cerebot MX4cK board and the

PIC32XM460F512L microcontroller.

Power Supply

Switch SW1, in the lower left corner of the

board is the power switch. Place this switch in

the ON position to turn on board power and in

the OFF position to turn off board power.

The Cerebot MX4cK may be USB powered via

either the USB debug port, the USB UART

port, or the USB device port. Alternatively, the

board may be powered via dedicated,

“external”, power supply connectors.

Jumper block J12 is used to select the power

source used to provide power to the board.

This jumper block provides the following four

positions:

• USB – power is supplied by USB device

connector J15. This is used when the

Cerebot MX4cK is used to implement a

USB bus powered device.

• EXT – Power is supplied by one of the

external power connectors.

• DBG – Power is supplied by DEBUG USB

connector J9.

• URT – Power is supplied by UART USB

connector J8.

Place the shorting block in the appropriate

position on J12 for the desired power source

for the board.

The Cerebot MX4cK is rated for external power

from 3.6 to 12 volts DC. Using a voltage

outside this range could damage the board and

connected devices. If operating the board at a

voltage higher than 5V, it is necessary to

remove the shorting block on jumper JP10 to

protect the USB load switch, which is limited to

a maximum voltage of 5.5V. When operating

from any of the three USB sources, the input

voltage will be 5V.

The output of power select jumper block J12 is

connected to the VIN power bus. The VIN

power bus supplies power to Q3, a PFET load

switch, and IC9, the voltage regulator for the

licensed debugger circuit. The licensed

debugger circuit is powered as soon as the

power switch is turned on. Power to the rest of

the board is controlled by Q3. The main board

power supply is enabled by bringing the gate of

Q3 low. When Q3 is turned on, the unregulated

power bus BRD_VU is powered.

If the licensed debugger is connected to an

active USB port, it enumerates with the host

computer and once it has successfully been

enumerated, it turns on the main board power

supply by driving the PWR_ON signal high.

If the licensed debugger is not connected to an

active USB port, the PWR_ON signal is

ignored and board power is turned on

immediately by the power switch via transistor

Q4.

The main board power supply is a switch mode

voltage regulator implemented using a

Microchip MCP16301 switch mode step-down

regulator. This regulator provides 3.3V at up to

600 mA with approximately 96% efficiency.

This powers the main board regulated power

bus BRD_3V3

There are three connectors on Cerebot MX4cK

for connecting an external power supply: J13,

J14, and J18.

The barrel connector, J13, is useful for desktop

development and testing where using USB or

battery power is not suitable. J13 is the

connector used by the AC adapter optionally

available from Digilent, or other sources. J13

is a 2.5mm x 5.5mm coaxial connector wired

with the center terminal as the positive voltage.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 7 of 35

Connector J14 is a two-pin male header that

provides easy battery or battery-pack

connection. Digilent has both two-cell and

four-cell AA battery holders with two pin

connectors available for connection to J14.

Connector J18 is a screw terminal connector

for an alternative power supply connection for

use with higher current battery packs, bench

supplies or other power sources where use of

a hard wired power supply is desirable.

Connectors J13, J14, and J18 are wired in

parallel and connect to the “External Power”

position on the Power Select jumper block J12.

A shorting block should be placed on the “EXT”

position of J12 when using this option for board

power. Only one of these three power

connectors should be used at a time. If

multiple power supplies are connected

simultaneously, damage to the board or the

power supplies may occur.

The Cerebot MX4cK has a second screw

terminal connector, J5 that supplies power to

the servo power bus, VS, to power the RC

hobby servo connectors. This allows servos to

be powered from a separate power supply than

the one powering the electronics on the

Cerebot MX4cK. This can be useful when

using servos that draw large amounts of

power.

Jumper JP1 can be used to connect the

Cerebot MX4cK unregulated power bus

BRD_VU to the servo power bus, VS. When

no shorting block is installed on JP1, the

BRD_VU and VS busses are separate. When

a shorting block is on JP1, the two busses are

joined and the BRD_VU bus can be powered

in any of the previously indicated ways, or from

connector J5.

The Cerebot MX4cK can provide power to any

peripheral modules attached to the Pmod

connectors and to I

C devices powered from

the I

C daisy chain connectors, J2 and J6.

Each Pmod connector provides power pins

that can be powered by either unregulated

voltage, BRD_VU, or regulated voltage,

BRD_3V3, by setting the voltage jumper block

to the desired position. The I

C power

connectors only provide regulated voltage,

BRD_3V3.

The PIC32 microcontroller and on-board I/O

devices operate at a supply voltage of 3.3V

provided by the BRD_3V3 bus. The PIC32

microcontroller will use approximately 55mA

when running at 80MHz. The remaining

current is available to provide power to

attached Pmod and I

C devices.

Power Supply Monitor Circuit

The Cerebot MX4cK microcontroller can

measure the power supply voltage on the

BRD_VU and VS power busses using the

provided power supply monitor circuits. This

feature is especially useful when using

batteries because it allows the microcontroller

firmware to determine the charge state of the

battery and potentially notify the user when a

battery supply is low.

Each power supply monitor circuit is made up

of a voltage divider that divides the power bus

voltage by four, and a filter capacitor to

stabilize the voltage. Jumper JP4 enables the

supply monitor circuit for BRD_VU power bus,

and jumper JP2 enables the supply monitor

circuit for the VS power bus. The analog to

digital converter built into the PIC32

microcontroller is used to measure the power

supply voltages. ADC channel 8 is used to

measure BRD_VU and ADC channel 9 is used

to measure VS.

When using the Cerebot MX4cK with the

chipKIT MPIDE, these are accessed using the

analogRead() function using analog input A6 to

read BRD_VU and A7 to read VS.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 8 of 35

Pmod™ Connectors

The Cerebot MX4cK has nine connectors for

connecting Digilent Pmod peripheral modules.

The Pmod connectors, labeled JA–JF and JH–

JK, are 2x8 right-angle, female pin header

connectors. Each connector has an associated

power select jumper block labeled JPA–JPF

and JPH–JPK.

Digilent Pmods are a line of small peripheral

modules that provide various kinds of I/O

interfaces. The Pmod product line includes

such things as button, switch and LED

modules, connector modules, LCD displays,

high current output drivers, various kinds of RF

interfaces, and many others.

There are two styles of Pmod connector: six-

pin and twelve-pin. Both connectors use

standard pin headers with 100mil spaced pins.

The six-pin connectors have the pins in a 1x6

configuration, while the twelve-pin connectors

use a 2x6 configuration. All of the Pmod

connectors on the Cerebot MX4cK are twelve

pin connectors.

The six-pin connectors provide four I/O signals,

ground and a switchable power connection.

The twelve-pin connectors provide eight I/O

signals, two power and two ground pins. The

twelve-pin connectors have the signals

arranged so that one twelve-pin connector is

equivalent to two of the six-pin connectors.

Pins 1–4 and 7–10 are the signal pins, pins 5

and 11 are the ground pins and pins 6 & 12 are

the power supply pins.

The pin numbering that Digilent uses on the

twelve-pin Pmod connectors is non-standard.

The upper row of pins are numbered 1–6, left

to right (when viewed from the top of the

board), and the lower row of pins are

numbered 7–12, left to right. This is in keeping

with the convention that the upper and lower

rows of pins can be considered to be two six-

pin connectors stacked. When viewed from the

end of the connector, pin 1 is the upper right

pin and pin 7 is immediately below it (closer to

the PCB).

Each Pmod connector has an associated

power select jumper. These are used to select

the power supply voltage supplied to the power

supply pin on the Pmod connector. They are

switchable between either the unregulated

power supply, BRD_VU, or the 3.3V main

board supply, BRD_3V3. Place the shorting

block in the 3V3 position for regulated 3.3V

and in the VU position to use the unregulated

supply.

Each signal pin on the Pmod connectors is

connected to an input/output pin on the PIC32

microcontroller. Each pin has a 200 ohm series

resistor and an ESD protection diode. The

series resistor provides short circuit protection

to prevent damaging the I/O block in the

microcontroller if the pin is inadvertently

shorted to VDD or GND, or two outputs are

shorted together. The ESD protection diode

protects the I/O block from damage due to

electro-static discharge.

Although ESD protection is provided between

the connector pins and the microcontroller

pins, ESD safe handling procedures should be

followed when handling the circuit board. The

pins on the microcontroller and other circuits

on the board are exposed and can be

damaged through ESD when handling the

board.

Digilent Pmod peripheral modules can either

be plugged directly into the connectors on the

Cerebot MX4cK or attached via cables.

Digilent has a variety of Pmod interconnect

cables available.

See the Pinout Tables in Appendix C, for more

information about connecting peripheral

modules and other devices to the Cerebot

MX4cK. These tables describe the mapping

between pins on the PIC32MX460

microcontroller and the pins on the various

connectors.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 9 of 35

The PIC32 microcontroller can source or sink a

maximum of 18mA on all digital I/O pins.

However, to keep the output voltage within the

specified input/output voltage range (V

0.4V,

2.4V) the pin current must be restricted to

+7/-12mA. The maximum current that can be

sourced or sunk across all I/O pins

simultaneously is +/-200mA. The maximum

voltage that can be applied to any digital I/O

pin is 5.5V. For more detailed specifications,

refer to the PIC32MX3XX/4XX Family Data

Sheet.

Digital Inputs and Outputs

The Cerebot MX4cK board provides access to

72 of the I/O pins from the PIC32

microcontroller via the Pmod connectors. Two

additional I/O pins can be accessed via the I

connector, J6. Any of the pins on the Pmod or

C connectors can be individually accessed for

digital input or output. Note that when the I

signals on J6 are being used for I

communications, they are not available for

general purpose I/O. Note that the signals on

C connector J2 are shared with pins 1 & 2 of

Pmod connector JF.

On PIC32 microcontrollers, the input/output

pins are grouped into I/O Ports and are

accessed via peripheral registers in the

microcontroller. There are seven I/O Ports

numbered A–G and each is 16 bits wide.

Depending on the particular PIC32

microcontroller, some of the I/O Ports are not

present, and not all 16 bits are present in all

I/O Ports.

Each I/O Port has four control registers: TRIS,

LAT, PORT, and ODC. The registers for I/O

Port A are named TRISA, LATA, PORTA and

ODCA. The registers for the other I/O Ports are

named similarly.

The TRIS register is used to set the pin

direction. Setting a TRIS bit to 0 makes the pin

an output. Setting the TRIS bit to 1 makes the

pin an input.

The LAT register is used to write to the I/O

Port. Writing to the LAT register sets any pins

configured as outputs. Reading from the LAT

The PORT register is used to read from the I/O

Port. Reading from the PORT register returns

the current state of all of the pins in the I/O

Port. Writing to the PORT register is equivalent

to writing to the LAT register.

PIC32 microcontrollers allow any pin set as an

output to be configured as either a normal

totem-pole output or as an open-drain output.

The ODC register is used to control the output

type. Setting an ODC bit to 0 makes the pin a

normal output and setting it to 1 makes the pin

a open drain output.

Refer to the PIC32MX3XX/4XX Family Data

Sheet, and the PIC32 Family Reference

Manual, Section 12, IO Ports, for more detailed

information about the operation of the I/O Ports

in the microcontroller.

The chipKIT MPIDE system uses logical pin

numbers to identify digital I/O pins on the

connectors. These pin numbers start with pin 0

and are numbered up consecutively.

On the Cerebot MX4cK, pin numbers 0–71 are

used to access the pins on the Pmod

connectors and pin numbers 72 and 73 are

used for the two signal pins on the I

connector, J6. The pin numbers are assigned

so that connector JA pin 1 (JA-01) is digital pin

0, JA pin 2 (JA-02) is digital pin 1, and so on.

Pins 0-7 are on connector JA, pins 8-15 on JB,

pins 16-23 on JC, pins 24-31 and so on. Refer

to the tables in Appendix C for detailed

information about the pin mapping between

Pmod connector, logical pin number, and

PIC32 microcontroller pin number and pin

function.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 10 of 35

When using the Cerebot MX4cK with the

chipKIT MPIDE the functions pinMode(),

digitalRead(), and digitalWrite() are used for

digital pin I/O.

The pinMode() function is used to set the pin

direction. Pin direction can be set to: INPUT,

OUTPUT, or OPEN. OPEN is used for open-

drain and implies output.

The digitalRead() and digitalWrite() functions

are used to read or write the pins.

DigitalRead() returns the current state of the

specified pin, and digitalWrite is used to set the

state of an output pin. The pin state can be

either HIGH or LOW.

PIC32MX460 Pin 20

Pin 20 on the PIC32MX460 has multiple

functions. It provides the VBUSON signal when

the board is being used to implement a USB

host. It also provides the positive input for

analog comparator 1, analog to digital

converter input AN5, change notice interrupt

CN7 and bit 5 of general I/O Port B. In order to

support all of these different functions, jumper

block J16 is used to select the routing of this

pin.

Normally, the shorting block will be in the JJ-8

position. This connects microcontroller pin 20

to Pmod connector JJ pin 8. This allows the

use of most functions of this pin.

When the board is being used as a USB host,

the shorting block is placed in the VBUSON

position to allow use of the VBUSON signal to

control power to the USB bus.

Placing the shorting block in the DAC position

connects the output of IC3, the MCP4725

digital to analog converter to microcontroller

pin 20. This allows use of the DAC output to be

used as a programmable reference for analog

comparator 1.

Push Buttons and LEDs

The Cerebot MX4cK board provides two push

button switches for user input and four LEDs

for output. The buttons, BTN1 and BTN2 are

connected to I/O pins TRCLK/RA6 and

TRD3/RA7 respectively. To read the buttons,

pins 6 and 7 of I/O Port A must be set as

inputs by setting the corresponding bits in the

TRISA register. The button state is then

obtained by reading the PORTA register.

When a button is pressed, the corresponding

bit will be high (‘1’). Note that the

microcontroller pins used by the buttons are

shared with pins 3 & 4 of Pmod connector JF.

The four LEDs are connected to bits 10-13 of

I/O Port B. LED 1 is connected to bit 10, LED 2

is connected to bit 11, and so on. These four

bits are also shared with pins 1-4 of Pmod

connector JK. To use the LEDs, set the

desired bits as outputs by clearing the

corresponding bits in the TRISB register. The

state of an LED is set by writing values to the

LATB register. Setting a bit to 1 will illuminate

the LED and setting the bit to 0 will turn it off.

When using the MPIDE and the chipKIT

system, the buttons are accessed using

digitalRead() and the LEDs using digitalWrite().

Use the following pins to access them:

• BTN1 – PIN_BTN1, pin 42, RA6

• BTN2 – PIN_BTN2, pin 43, RA7

• LD1 – PIN_LED1, pin 64, RB10

• LD2 – PIN_LED2, pin 65, RB11

• LD3 – PIN_LED3, pin 66, RB12

• LD4 – PIN_LED4, pin 67, RB13

RC Servo Connectors

The Cerebot MX4cK provides eight 3-pin RC

hobby servo connectors, labeled S1-S8, for

direct control of servos in robotics and

embedded hardware actuator applications.

The connectors share the I/O pins with Pmod

connector JC. Individual I/O pins may be

Cerebot MX4cK Reference Manual

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accessed through the JC connector if they're

not being used to control a servo.

RC Servos use a pulse width modulated

signal, PWM, to control the servo position.

The 16-bit timers in the PIC32 microcontroller

have the ability to generate PWM signals using

the output compare registers. However, it is

also possible to use timer interrupts to

accomplish this same thing. Using timer

interrupts allows a single timer to be used to

control the signal timing for all eight servo

connectors.

The servo connectors on the Cerebot MX4cK

board are intended to be driven using timer

interrupts rather than directly by the pulse

width modulators in the internal timers. This

frees the pulse width modulators for other

uses, such as DC motor speed control.

Digilent has a reference design available that

illustrates using timer interrupts to control

signal timing for the PWM signals to control RC

servos.

When using the chipKIT MPIDE development

environment, the Servo library can be used to

drive servos attached to these connectors. The

symbols PIN_S1 through PIN_S8 can be used

to specify the servo connectors being used.

The following give the correspondence

between servo connector, MPIDE digital pin

number, and microcontroller I/O Port register

and bit position:

• S1 – PIN_S1, digital pin 16, RG12

• S2 – PIN_S2, digital pin 17, RG13

• S3 – PIN_S3, digital pin 18, RG14

• S4 – PIN_S4, digital pin 19, RG15

• S5 – PIN_S5, digital pin 20, RG0

• S6 – PIN_S6, digital pin 21, RG1

• S7 – PIN_S7, digital pin 22, RF0

• S8 – PIN_S8, digital pin 23, RF1

There are three options for supplying power to

the servo connections:

• A common power bus (BRD_VU) for the

Cerebot MX4cK and servos

• Separate on-board power busses for the

Cerebot MX4cK (BRD_VU) and the servos

(VS)

• An on-board power bus for the Cerebot

MX4cK (BRD_VU) and an external power

bus for servos

For the first case above: Install a shorting

block on jumper JP1 to connect the VS servo

power bus to the BRD_VU power bus. The

servo power bus is then powered from the

same source as the BRD_VU power bus.

Powering a large number of servos from USB

power is not recommended. Pin header

jumpers and shorting blocks such as JP1 are

rated for a maximum of 2A of current. USB

power (J12 in the USB, DBG, or URT

positions) should only be used to power a

couple of servos to avoid exceeding the

500mA that a USB device is allowed to use.

For the second case above: Remove the

shorting block from jumper JP2 to make the VS

servo power bus independent from the

BRD_VU bus. Attach the servo power supply

to screw terminal connector J5.

Finally, for very high servo current applications,

a separate power bus external to the Cerebot

MX4cK can be used to provide servo power. In

this case, remove the shorting block on JP1,

tie the external servo power bus ground to the

Cerebot MX4cK ground through the ground

terminal on J10, and use pin 1 on the servo

connectors to bring the servo control signals

out to the servos. The servo power and

ground connections are made off-board.

The on-board servo power bus can be used to

provide a maximum of 2A to each servo

connector and 5A total to all servo connectors.

5V Signal Compatibility

The PIC32 microcontroller operates at 3.3V.

And the I/O pins provide 3.3V logic levels. It is

possible, in some circumstances, to use the

Cerebot MX4cK Reference Manual

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Cerebot MX4cK to operate with 5V logic

devices.

There are two issues to consider when dealing

with 5V compatibility for 3.3V logic. The first is

protection of 3.3V inputs from damage caused

by 5V signals. The second is whether the 3.3V

output is high enough to be recognized as a

logic high value by a 5V input.

The digital I/O pins on the PIC32

microcontroller are 5V tolerant. It is safe to

apply 5V logic signals directly to these pins

without risk of damage to the microcontroller.

The analog capable I/O pins on the PIC32 are

not 5V tolerant. The absolute maximum

voltage rating for the analog pins is 3.6V.

Generally, the analog pins are the pins on I/O

port B, however, there are other non-5V

tolerant pins on the device.

Refer to the PIC32MX3XX/4XX Family Data

Sheet for more information about which pins

on the device are 5V tolerant before applying

input signals higher than 3.3V to any pin on the

Cerebot MX4cK board.

If a 5V signal is applied to a non-5V tolerant

pin, some external means must be used to limit

the applied voltage to 3.6V or less. The

Cerebot MX4cK board provides 200 ohm

series resistors between the microcontroller

pins and the Pmod connector pins. These

resistors are primarily intended to provide short

circuit protection on the outputs, but will also

provide limited protection if a 5V signal is

inadvertently applied to a non-5V tolerant pin.

One technique that can be used to limit and

input voltage to a safe level is to use a 200

ohm series resistor and Shotkey diode

connected to the 3.3V supply to clamp the

voltage.

The minimum output high voltage of the PIC32

microcontroller is rated at 2.4V when sourcing

12mA of current. When driving a high

impedance input (typical of CMOS logic) the

output high voltage will be close to 3.3V. Some

5V devices will recognize this voltage as a

logic high input, and some won’t. Many 5V

logic inputs will work reliably with 3.3V inputs.

If the 3.3V logic output is not sufficient for 5V

logic input to be reliably seen as a logic high

input signal, some external means must be

used to raise the output level. In some cases, a

pull-up resistor to 5V is sufficient. A pull-up

resistor in the range of 2Kohm–10kOhm can

be used. This technique should not be used

with pins that are not 5V tolerant on the PIC32

microcontroller.

Cerebot MX4cK Reference Manual

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PIC32 Peripheral Devices

The following describes the peripheral devices

available in the PIC32MX460F512L

microcontroller and how they are accessed on

the Cerebot MX4cK board.

CPU Clock Source

The PIC32 microcontroller supports numerous

clock source options for the main processor

operating clock. The Cerebot MX4ck board is

designed to support either a silicon resonator

from Discera, IC8, for use with the EC

oscillator option, or an external crystal for use

with the XT oscillator option. Standard

production boards will have an 8Mhz Discera

silicon resonator loaded and the EC oscillator

option should be used. If IC2 is not loaded, an

8Mhz crystal will be loaded for X1 (on the

bottom of the board) and the XT oscillator

option should be used. Oscillator options are

selected via the configuration variables

specified using the #pragma config statement.

Use

#pragma config POSCMOD=EC

to select

the EC option and

#pragma config

POSCMOD=XT

to select the XT option.

Using the internal system clock phase-locked

loop (PLL), it is possible to select numerous

multiples or divisions of the 8Mhz input

frequency to produce CPU operating

frequencies up to 80Mhz. The clock circuit PLL

provides an input divider, multiplier, and output

divider. The external clock frequency (8Mhz) is

first divided by the selected input divider value.

This is multiplied by the selected multiplier

value and then finally divided by the selected

output divider. The result is the system clock,

SYSCLK, frequency. The SYSCLK frequency

is used by the CPU, DMA controller, interrupt

controller and pre-fetch cache.

The values controlling the operating frequency

are specified using the PIC32MX460

configuration variables. These are set using

the #pragma config statement. Use

#pragma config FPLLIDIV to set the input

divider, #pragma config FPLLMUL to set

the multiplication factor and #pragma config

FPLLODIV to set the output divider. Refer to

the PIC32MX3XX/4XX Family Data Sheet and

the PIC32MX Family Reference Manual,

Section 6. Oscillators, for information on how

to choose the correct values, as not all

combinations of multiplication and division

factors will work.

In addition to configuring the SYSCLK

frequency, the peripheral bus clock, PBCLK,

frequency is also configurable. The peripheral

bus clock is used for most peripheral devices,

and in particular is the clock used by the

timers, and serial controllers (UART, SPI, I2C).

The PBLCK frequency is a division of the

SYSCLK frequency selected using #pragma

config FPBDIV. The PBCLK divider can be

set to divide by 1, 2, 4, or 8 using the values

DIV_1, DIV_2, DIV_4 or DIV_8.

The following example will set up the Cerebot

MX4cK for operation using the Discrea silicon

resonator with a SYSCLK frequency of 80Mhz

and a PBCLK frequency of 10Mhz:

#pragma config FNOSC = PRIPLL

#pragma config POSCMOD = EC

#pragma config FPLLIDIV = DIV_2

#pragma config FPLLMUL = MUL_20

#pragma config FPLLODIV = DIV_1

#pragma config FPBDIV = DIV_8

Documentation for the PIC32 configuration

variables can be found in the PIC32MX

Configuration Settings guide. This is found

using the “Help.Topics…” command in the

MPLAB IDE. Also, refer to Appendix B for an

example of setting the configuration variables.

When using the Cerebot MX4cK with the

chipKIT MPIDE software, the clock source is

set by the boot loader and no action is

required.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 14 of 35

USB Interface

The PIC32MX460 microcontroller contains a

USB 2.0 Compliant, Full Speed Device and

On-The-Go (OTG) controller. This controller

provides the following features:

• USB full speed host and device support

• Low speed host support

• USB OTG support

• Endpoint buffering anywhere in system

RAM

• Integrated DMA to access system RAM

and Flash memory.

The USB controller uses a phased lock loop,

PLL, to generate the necessary USB clock

frequency from the external primary oscillator

input frequency. By default, this PLL is

disabled. In order to use the USB controller, it

is necessary to enable the USB PLL, and set

the input divider to the correct value to

generate a valid USB clock. The input to the

USB PLL must be 4Mhz. The Cerebot MX4cK

provides an 8Mhz clock to the PIC32

microcontroller, so a USB PLL input divider

value of 2 must be used. These parameters

are set in the PIC32 microcontroller

configuration registers using the

#pragma

config

statement. The following statements

must be used to configure the PIC32

microcontroller for use of the USB controller:

#pragma config UPLLEN = ON

#pragma config UPLLIDIV = DIV_2

When using the chipKIT MPIDE development

environment, these will have been set by the

boot loader, so no action is needed.

When operating as a USB device, the Cerebot

MX4cK can be operated as a self-powered

device or as a bus powered device. To

operate as a self-powered device, an external

power supply should be connected to one of

the external power connectors (J13, J14 or

J18) and a shorting block placed on the “EXT”

position of J12. The external power supply

must be a regulated 5V supply. To operate as

a USB bus powered device, the shorting block

should be placed in the USB Device position,

“USB”, on J12.

Note that when operating as a bus powered

device, the Cerebot MX4cK and all devices

connected to it are limited to no more than

500mA of current.

Connector J15, on the bottom of the board in

the lower right corner is the Device/OTG

connector. This is a standard USB micro-AB

connector. Connect a cable with a micro-A

plug (optionally available from Digilent) from

this connector to an available USB port on a

PC or USB hub for device operation.

When operating as a USB host, the Cerebot

MX4cK must be externally powered. Connect

a regulated 5V power supply to one of the

external power connectors (J13, J14, or J18)

and ensure that the shorting block is in the

center, “EXT” position of J12. The power

supply used must be a regulated 5V supply.

The Cerebot MX4cK board provides power to

the attached USB device when operating as a

host, and the USB specification requires the

use of a 5V power supply. NOTE: Providing a

voltage greater than 5V can damage the

Cerebot MX4cK board and/or the USB device

being used.

Connector J17, on the top of the board in the

lower right corner is the USB host connector.

This is a standard USB type A receptacle. USB

devices may be connected either directly or

through a standard USB cable.

Jumper JP6 is used to route power to the host

connector being used. Place the shorting

block in the “HOST” position when using the

standard USB type A (host) connector, J17.

Place the shorting block in the “OTG” position

for use with the USB micro-AB (OTG)

connector, J15.

Cerebot MX4cK Reference Manual

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When operating as a USB host, the

PIC32MX460 microcontroller controls

application of power to the connected device

via the VBUSON control pin. Bus power is

applied to the device by driving the VBUSON

pin high. Power is removed from the device by

driving the VBUSON pin low. The VBUSON pin

is accessed via bit 3 of the U1OTGCON

Pin 20 of the PIC32MX460 microcontroller is

used for the VBUSON function. Place the

shorting block in the VBUSON position of

jumper block J16 when using the Cerebot

MX4cK for USB host operation.

The VBUSON pin drives the enable input of a

TPS2051B Current-Limited Power Distribution

Switch to control the application of USB power

to the host connector. This switch has over-

current detection capability and provides an

over-current fault indication by pulling the

signal P32_USBOC low. Jumper JP5 is used

to enable monitoring of the overcurrent fault

indication. The over-current output pin can be

monitored via the INT2/RE9 pin on the

PIC32MX460 microcontroller when a shorting

block is installed on JP5. The INT2/RE9 pin is

also connected to Pmod connector JE, pin 7

(JE-07). Pmod connector pin JE-07 should not

be used when using INT2/RE9 to monitor the

USB overcurrent fault indicator. Remove the

shorting block from JP5 to restore normal

operation of JE-07.

Details about the operation of the TPS2051B

can be obtained from the data sheet available

at the Texas Instruments web site.

Jumper JP10 can be used to disconnect the

USB load switch, IC6, when the board is

operating from a power supply with a higher

voltage than 5V. When the Cerebot MX4cK is

operating as a USB host, a shorting block must

be in place on JP10.

The Microchip Applications Library, MAL,

available on the Microchip web site contains

USB driver code for implementing either USB

host devices or USB function devices. This

library contains numerous examples

demonstrating both device and host operation

of PIC32 microcontrollers. With minor

modification or configuration, these reference

designs are suitable to use for developing USB

firmware for the Cerebot MX4cK board.

Digilent has USB libraries available that can be

used to develop both USB device and USB

host applications when using the board with

the chipKIT MPIDE development environment.

These libraries can be downloaded from the

Cerebot MX4cK product page on the Digilent

web site.

The Digilent chipKIT libraries contain examples

illustrating various USB host and device

applications.

UART Interface

The PIC32MX460 microcontroller provides two

UART interfaces, UART1 and UART2. The

UARTs can provide either a 2-wire or a 4-wire

asynchronous serial interface. The 2-wire

interface provides receive (RX) and transmit

(TX) pins. The 4-wire interface includes

request-to-send (RTS) and clear-to-send

(CTS) in addition to receive and transmit.

UART1 can be accessed from Pmod connector

JE and UART2 can be accessed from Pmod

connector JH using the following pins:

• U1CTS JE-01

• U1TX JE-02

• U1RX JE-03

• U1RTS JE-04

• U2CTS JH-01

• U2TX JH-02

• U2RX JH-03

• U2RTS JH-04

Cerebot MX4cK Reference Manual

www.digilentinc.com page 16 of 35

Detailed information about the operation of the

UART peripherals can be found in the PIC32

Family Reference Manual, Section 21, UART.

The USB Serial converter is connected to

UART1. The MPIDE uses this to communicate

with the boot loader. This can also be used for

a serial communications interface between the

Cerebot MX4cK board and other software

running on a PC. Resistors are used to

decouple the USB serial interface and so

UART1 can also be used via Pmod connector

JE when it is not being used to communicate

via the USB serial converter.

Note that when using the MPIDE software,

devices connected to JE can interfere with the

operation of the serial interface and prevent

the MPIDE from successfully downloading

sketches to the board. If this happens,

disconnect the external device from JE until

the sketch has been downloaded and then

reconnect it.

When using the Cerebot MX4cK with the

MPIDE and the chipKIT system, the UARTs

are accessed using the HardwareSerial facility

built into the system. UART1, connector JE, is

accessed using the Serial object and

UART2, connector JH, is accessed using

Serial1.

Serial Peripheral Interface (SPI)

SPI is a four wire synchronous serial interface

and SPI devices can operate as either master

devices or as slave device. The PIC32

microcontroller labels the four SPI signals as

Slave Select (SS), Serial Data Out (SDO),

Serial Data In (SDI), and Serial Clock (SCK). A

master device transmits SS, SDO and SCK,

and receives SDI. A slave device receives SS,

SDI, and SCK and transmits SDO. The SS

signal is used to enable the slave device, and

this signal is only significant for slave devices.

A master device can use any general purpose

I/O pin to generate SS to enable the slave.

An SPI transaction begins with the master

device bringing SS low. When the slave sees

SS go low it becomes enabled and waits for

the master to send data. The master shifts

data out on SDO and simultaneously shifts

data in on SDI. The slave device receives data

from the master on its SDI pin and

simultaneously sends data to the master on its

SDO pin. Each time the master sends a byte to

the slave, it simultaneously receives a byte

from the slave.

The PIC32MX460 microcontroller provides two

Serial Peripheral Interfaces, SPI1 and SPI2.

SPI2 is accessed via Pmod connector JB and

SPI1 is accessed via connector J1. Because of

the way that peripheral functions are shared

the pins for SPI1, the signals on J1 are shared

with various Pmod connectors around the

board. For this reason, when using only a

single SPI port, SPI2 is the preferred port to

use.

The following gives the mapping between SPI

signals and connector pins:

• SS2 JB-01

• SDO2 JB-02

• SDI2 JB-03

• SCK2 JB-04

• SS1 J1-01 (also JD-03)

• SDO1 J1-02 (also JH-08)

• SDI1 J1-03 (also JK-10)

• SCK1 J1-04 (also JD-09)

Detailed information about the operation of the

SPI peripherals can be found in the PIC32

Family Reference Manual, Section 23, Serial

Peripheral Interface.

When using the Cerebot MX4cK with the

MPIDE and the chipKIT system, the SPI ports

are accessed using either the standard chipKIT

SPI library or using the Digilent DSPI library.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 17 of 35

The standard SPI library supports access to a

single SPI port, SPI2. This is accessed using

the SPI object.

The DSPI library supports access to both SPI

ports. The DSPI0 object class is used to create

an object used to access the default SPI port,

SPI2, connector JB. The DSPI1 object class is

used to access SPI1, connector J1.

C™ Interface

The Inter-Integrated Circuit (I

) Interface

provides a medium speed (100K or 400K bps)

synchronous serial communications bus. The

C interface provides master and slave

operation using either 7 bit or 10 bit device

addressing. Each device is given a unique

address, and the protocol provides the ability

to address packets to a specific device or to

broadcast packets to all devices on the bus.

Refer to the Microchip PIC32MX3XX/4XX

Family Data Sheet and the PIC32 Family

Reference Manual, Section 24, Inter-Integrated

Circuit, for detailed information on configuring

and using the I

C interface.

The PIC32MX460 microcontroller provides for

two independent I

C interfaces. The Cerebot

MX4cK is designed to provide dedicated

access to one of these interfaces, I2C2, using

C daisy chain connector J6. The other I

interface, I2C1, is accessed using I

C daisy

chain connector J2. The signals for I2C1 are

shared with Pmod connector JF, and also

appear on pins 1 & 2 of JF.

The I

C daisy chain connectors provide two

positions for connecting to the I

C signals, SDA

and SCL, as well as power and ground. By

using two-wire or four-wire MTE cables

(available separately from Digilent) a daisy

chain of multiple Cerebot MX4cK boards or

other I

C-capable boards or devices can be

created.

The I

C bus is an open-collector bus. Devices

on the bus actively drive the signals low. The

high state of the I

C signals is achieved by pull-

up resistors when no device is driving the lines

low. One device on the I

C bus must provide

the pull-up resistors. On the Cerebot MX4cK,

I2C2 has fixed 2.2K ohm pull-up resistors.

I2C1 has selectable pull-up resistors that can

be enabled or disabled via jumpers J3 and J4,.

The pull-ups are enabled by installing shorting

blocks and are disabled by removing the

shorting blocks. Generally, only one device on

the bus will have the pull-ups enabled.

Pull-ups

Enabled

Pull-ups

Disabled

Jumper Settings for I

C Pull-Up Resistors

When using the Cerebot MX4cK with the

MPIDE and the chipKIT system, the I

interfaces are accessed using the standard

chipKIT Wire library, or the Digilent DTWI

library.

The Wire library supports a single I

C interface,

I2C1 on J2. This is accessed using the Wire

object.

The DTWI library supports both I

C interfaces.

The DTWI0 object class is used to create an

object for access to I2C1 and the DTWI1 object

class is used to access I2C2.

The pinouts of the I

C daisy chain connectors

are as follows:

Connector J2. I2C1

• J2-1 – SCL1

• J2-2 – SCL1

Cerebot MX4cK Reference Manual

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• J2-3 – SDA1

• J2-4 – SDA1

• J2-5 – GND

• J2-6 – GND

• J2-7 – BRD_3V3

• J2-8 – BRD_3V3

Connector J6, I2C2

• J6-1 – SCL2

• J6-2 – SCL2

• J6-3 – SDA2

• J6-4 – SDA2

• J6-5 – GND

• J6-6 – GND

• J6-7 – BRD_3V3

• J6-8 – BRD_3V3

On-Board I

C Peripheral Devices

The Cerebot MX4cK provides two on-board I

peripheral devices, a Microchip 24LC256 serial

EEPROM, and a Microchip MCP4725 Digital to

Analog Converter. These devices are both

connected to I2C2. The 24LC256 is a 256Kbit

(32Kbyte) serial EEPROM device to provide

non-volatile memory storage. The MCP4725 is

a single channel, 12-bit, serial digital to analog

converter that provides an analog output

voltage for various uses. The device address

for IC2, the 24LC256 is 1010000 (0x50). The

device address for IC3, the MCP4725, is

1100000 (0x60).

Refer to the Microchip data sheets for detailed

information on the operation of these devices.

The analog output voltage from IC3 is available

at two places on the Cerebot MX4cK board.

The two pin header, J10, provides the DAC

output voltage and ground for connection to

off-board applications.

The DAC output signal is also available at the

center, DAC, position of jumper block J16.

Placing a shorting block at this position

connects the DAC output to pin 20 on the

PIC32MX460 microcontroller. One of the

functions for this pin is as one of the inputs to

analog comparator #1 on the PIC32 device.

This allows the output of the DAC to be used

as a programmable reference voltage for the

comparator.

Analog Inputs

The PIC32MX460 microcontroller provides a

10-bit analog to digital (A/D) converter that

provides up to sixteen analog inputs. The

Cerebot MX4cK board provides access to 14

of them on the Pmod connectors. The

converted values produced by the A/D

converter will be in the range 0–1023.

For detailed information on the operation and

use of the A/D converter, refer to the PIC32

Family Reference Manual, Section 17, 10-bit

AD Converter.

The analog inputs are accessed using the

analogRead() function in the chipKIT MPIDE

software. The analog input pin number is

specified using the symbols A0–A13. The

digital pin numbers for the pin or the numbers

0–13 can also be used, but using the symbols

A0–A13 is recommended.

The following gives the Pmod connector

position, digital pin number, and

microcontroller I/O port and bit number for the

analog inputs:

• A0 – JJ-01, digital pin 56, RB0

• A1 – JJ-02, digital pin 57, RB1

• A2 – JJ-03, digital pin 58, RB2

• A3 – JJ-04, digital pin 59, RB3

• A4 – JJ-07, digital pin 60, RB4

• A5 – JJ-08, digital pin 61, RB5

• A6 – JJ-09, digital pin 62, RB8

• A7 – JJ-10, digital pin 63, RB9

• A8 – JK-01, digital pin 64, RB10

• A9 – JK-02, digital pin 65, RB11

• A10 – JK-03, digital pin 66, RB12

• A11 – JK-04, digital pin 67, RB13

Cerebot MX4cK Reference Manual

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• A12 – JB-07, digital pin 12, RB15

• A13 – JB-10, digital pin 15, RB14

A/D Converter Reference

The PIC32 microcontroller provides two

reference inputs to the analog to digital

converter. Vref- is used set the lower reference

level and Vref+ is used to set the upper

reference level. These references can be

connected to internal references or external

references using two of the analog input pins.

When the internal references are being used,

Vref- is connected to VSS and Vref+ is

connected to VDD. This means that the

voltage input range at the analog input pins is

0V–3.3V. In this case, an input voltage of 0V

will convert to ~0, an input voltage of 1.65V will

convert to ~511, and an input voltage of 3.3V

will convert to ~1023.

Either one, or both, of the references can be

connected to external reference pins. When

this is done, the references can be set to

voltages other than 0V and 3.3V.

If, for example, both references were selected

to use external references, with 1V applied to

Vref- and 2V applied to Vref+, the input voltage

range at the analog input pins would be from

1V to 2V. An applied voltage of 1V would have

a converted value of ~0, 1.5V would have a

converted value of ~511, and 2V would have a

converted value of ~1023.

When both external references are being used,

Vref+ must have a higher voltage applied to in

than Vref-.

The analog reference input pins appear on

Pmod connector JK, pins 7 & 8. Vref- is on pin

JK-07, and Vref+ is on pin JK-08. These pins

are not available to be used for digital I/O when

being used as an external reference.

When using the chipKIT MPIDE software, the

use of external analog references is selected

using the analogReference() function. The

following values can be used with

analogReference():

• DEFAULT – Vref- = 0V, Vref+ = 3.3V

• INTERNAL – same as default

• EXTERNAL – Vref- = 0V, Vref+ = voltage

at A2

• EXTMINUS – Vref- = voltage at A3, Vref+ =

3.3V

• EXTPLUSMINUS – Vref- = voltage at A3,

Vref+ = voltage at A2

Timers

The PIC32 microcontroller provides five timers

that can be used for various timing functions.

These timers are each 16 bits wide, although

two pairs, TIMER2/TIMER3 and

TIMER4/TIMER5 can be combined to produce

32 bit wide timers.

A timer consists of a control register, a counter

various modes of operation. The count register

counts cycles of the clock source selected via

the control register. This clock source can be

the peripheral bus clock or a division of the

peripheral bus clock via a pre-scaler divider.

The period register can be used to generate an

interrupt and/or reset the count register when a

pre-determined value is reached.

Each timer has an associated input pin. In

some operating modes, this pin can be used

as an external clock input to the timer, or as a

gate input to turn on/off incrementing of the

counter register under control of an external

signal.

The following gives the Pmod connector

position, chipKIT pin number, and

microcontroller I/O port and bit number for the

timer input pins.

• TCK1 – not available

• TCK2 – JD-04, digital pin 27, RC01

Cerebot MX4cK Reference Manual

www.digilentinc.com page 20 of 35

• TCK3 – JD-10, digital pin 31, RC02

• TCK4 – JE-10, digital pin 39, RC03

• TCK5 – JK-10, digital pin 71, RC04

For detailed information on the operation of the

PIC32 timers, refer to the PIC32 Family

Reference Manual, Section 14, Timers.

When using the chipKIT MPIDE software, the

symbols PIN_TCK2, PIN_TCK3, PIN_TCK4,

and PIN_TCK5 can be used to access the

timer input pins.

Control and operation of the timers is not

explicitly provided in the current version of the

chipKIT MPIDE software. This capability will be

added in a future version of the software.

Timers are used implicitly by various core

functions and libraries, however.

Output Compare

The PIC32 microcontroller provides five output

compare units that can be used to control the

timing of state changes on certain output pins

or to generate pulse width modulated (PWM)

outputs.

Each output compare unit works with a

particular output pin (OC1-OC5). It can be

programmed to control the pin in any of the

following ways:

• PWM output

• Generate continuous pulses

• Generate a single pulse

• Toggle the output pin

• Generate falling edge

• Generate rising edge

The output compare units work in conjunction

with a timer. Either Timer2 or Timer3 can be

used with any of the five output compare units.

Refer to the PIC32 Family Reference Manual,

Section 16, Output Compare for detailed

information on the use of the output compares

units.

When using the chipKIT MPIDE software,

these are accessed using the analogWrite()

function. The digital pin number, or preferably,

the symbols PIN_OC1 through PIN_OC5 are

used to specify the pin. The chipKIT MPIDE

software currently only supports using the

output compare units to generate PWM

outputs. It uses Timer2 to control the output

compares.

The following gives Pmod connector position,

chipKIT pin number, and microcontroller I/O

port and bit number for the output compare

unit’s output pins:

• OC1 – JH-08, digital pin 53, RD0

• OC2 – JD-02, digital pin 25, RD1

• OC3 – JD-08, digital pin 29, RD2

• OC4 – JE-08, digital pin 37, RD3

• OC5 – JB-09, digital pin 14, RD4

Input Capture

The PIC32 microcontroller provides five input

capture units. An input capture unit works in

conjunction with a timer and monitors the state

of an associated pin. When the pin changes

state, the current value of the timer is captured.

The input capture units can be used with either

Timer2 or Timer3.

The input capture unit can be programmed to

be sensitive to either a rising edge, a falling

edge, or both edges on the input pin. An

interrupt can also be signaled when an input

capture is triggered. Each input capture has a

four level deep FIFO that can buffer up to four

capture events.

For detailed information on the operation and

use of the input capture units, refer to the

PIC32 Family Reference Manual, Section 15,

Input Capture.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 21 of 35

The following gives the Pmod connector

position, chipKIT pin number, and

microcontroller port and bit number for the

input capture units input pins:

• IC1 – JH-09, digital pin 54, RD08

• IC2 – JD-03, digital pin 26, RD09

• IC3 – JD-03, digital pin 30, RD10

• IC4 – JE-09, digital pin 38, RD11

• IC5 – JK-09, digital pin 70, RD12

When using the chipKIT MPIDE software, the

symbols PIN_IC1, PIN_IC2, PIN_IC3,

PIN_IC4, and PIN_IC5 can be used to access

the capture input pins.

Use of the input capture units is not currently

supported in the chipKIT MPIDE software. This

will be added in a future version.

External Interrupts

The PIC32 microcontroller provides five

external interrupt inputs. An external interrupt

input can be used to generate an interrupt to

the microprocessor CPU when the pin changes

state. They can be programmed to interrupt on

a rising edge or a falling edge on the pin.

Refer to the PIC32 Family Reference Manual,

Section 8, Interrupts for more information on

the operation of the external interrupts.

These are accessed using the attachInterrupt()

and detachInterrupt() functions when using the

chipKIT MPIDE software,. The interrupt

number is specified using the numbers 0-4, or

preferably, the symbols EXT_INT0 through

EXT_INT4.

The following gives Pmod connector position,

chipKIT pin number, and microcontroller I/O

port and bit number:

• INT0 – JH-08, digital pin 53, RD0

• INT1 – JH-07, digital pin 52, RE8

• INT2 – JE-07, digital pin 36, RE9

• INT3 – JF-01, digital pin 40, RA14

• INT4 – JF-02, digital pin 41, RA15

RTCC

The PIC32 microcontroller contains a low

frequency oscillator and Real Time

Clock/Calendar circuit, RTCC, that can be

used to maintain time and date information.

The operation of the RTCC requires a

32.768Khz frequency source. The crystal X2

position, just above and on the right of the

PIC32 microcontroller, IC1, is provided for the

user to solder in a 32Khz watch crystal. The

Citizen CFS206-32.768KDZF-UB is a crystal

part that can be used in this location.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 22 of 35

Appendix A: Connector Descriptions and Jumper Settings

Label

Function

SPI port #1 connector

Because of multiple uses for the pins, the signals for SPI port #1 are scattered across

multiple Pmod connectors. This connector provides all of the SPI port #1 signals on a single

connector. All of the signal pins on this connector are shared with pins on various Pmod

connectors.

I2C port #1 daisy chain connector

This connector provides access to the I

C signals, power and ground for I2C1.

J3 &

Pull

up enable for I2C port #1

These two jumpers are used to enable/disable the pull-up resistors on I2C1. Insert shorting

blocks on these two jumpers for enable the pull-up resistors. Remove the shorting blocks to

disable the pull-up resistors. Only a single device on the I

C bus should have the pull-up

resistors enabled.

Servo bus power connector

This connector is used to provide power to the servo power bus, VS.

I2C port #2 daisy chain connector

This connector provides access to the I

C signals, power and ground for I2C2.

USB Serial converter auxiliary signals

This connector can be used to access the auxiliary RS232 handshaking signals not used on

the Cerebot MX4cK board.

USB Serial converter (UART) connector

This USB micro-AB connector is used to connect the FT232R serial converter to a USB port

on the user PC.

Licensed Debugger USB connector

This USB micro-AB connector is used to connect the licensed debugger to a USB port on the

user PC.

J10

DAC output

The analog output voltage of IC3, the MCP4725 Digital to Analog converter, is available at

this connector.

J11

Do not use

Used for manufacturing test purposes.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 23 of 35

J12

Power supply source select

This jumper is used to select the source of main board power.

Place a shorting block in the USB position to have the board powered from the USB device

connector, J15.

Place a shorting block in the EXT position to have the board powered from one of the

external power connectors, J13, J14, or J18.

Place a shorting block in the DBG position to have the board powered from the debug USB

connector, J9.

Place the shorting block in the URT position to have the board powered from the USB serial

converter connector, J8.

J13

External power connector

This is a 5.5mm x 2.5mm coaxial power connector wired center positive. This is used to

supply external power to the board.

J14

External power connector

This is a two pin header connector that can be used to supply external power to the board.

J15

USB OTG connector

This is a USB micro-AB connector that is used when the Cerebot MX4cK board is used to

implement a USB device, or USB OTG device.

J16

PIC32 pin 20 function select

Pin 20 on the PIC32MX460 microcontroller has multiple functions. It functions as the

VBUSON control pin when acting as a USB host. It can be used as an analog input for the

A/D converter or one of the analog comparators. It can also be used as a pin change

interrupt input or as a general digital i/o. This jumper is used to route pin 20 to one of three

places on the board:

Place a shorting block in the upper, VBUSON, position when acting as a USB host to control

the USB power supplied to the connected device.

Place a shorting block in the middle, DAC, position to connect the output of the MCP4725

digital to analog converter to pin 20. This allows the use of the DAC output as an input to

analog comparator #1.

Place a shorting block in the lower, JJ-8, position to connect pin 20 to Pmod connector JJ,

pin 8. This allows access to pin 20 from this Pmod connector.

J17

USB host connector

This is a standard USB type A connector. This is used to connect a USB device when the

Cerebot MX4cK is being used as a USB host.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 24 of 35

J18

External power connector

This is a two pin screw terminal connector that can be used to supply external power to the

board.

J19

Auxiliary Power Out

This connector provides access to the unregulated power bus BRD_VU and GND. It can be

used to distribute power to other boards from the Cerebot MX4cK.

JP1

Connect VS bus to

BRD_VU

bus

This jumper is used to connect the VS bus to the BRD_VU bus. The VS bus provides power

to the servo connectors, S1-S8. The BRD_VU bus is the main board power bus. Install a

shorting block on this jumper to have the servo power bus powered from the main power bus.

Remove the shorting block from this jumper to separate the two power busses. When using a

separate servo power bus, the VS bus is powered from screw terminal connector J5.

JP2

VS bus voltage monitor

This jumper is used to enable monitoring of the VS bus voltage. When a shorting block is

installed on this jumper, the VS bus is connected via a voltage divider to analog input AN9.

This can be used, for example, to monitor the state of a battery supply being used to power

servos.

JP3

Connector JB pin 7 signal sel

ect

This jumper is used to route either signal SCL1/INT3/RA14 or PMALL/AN15/CN12/RB15 to

the pin 7 position of Pmod connector JB. The jumper is normally in the RB15 position. This

allows connector the PIC32 Parallel Master Port to be used with connector JB. Place the

jumper in the INT3 position when using JB to access an SPI device that requires an interrupt

on pin 7.

JP4

BRD_VU

bus voltage monitor

This jumper is used to enable monitoring of the BRD_VU bus voltage. When a shorting block

is installed on this jumper, the BRD_VU bus is connected via a voltage divider to analog input

AN8. This can be used, for example, to monitor the state of a battery supply being used to

power the board.

JP5

USB over

current detect

This jumper is used to enable monitoring of the over-current detect capability of the USB bus

power switch, IC6. When a shorting block is installed on this jumper, the over-current output

pin of IC6 is connected to the INT2/RE9 pin of the PIC32MX460 microcontroller.

JP6

USB host power select

This jumper is used to select which host connector is powered when host power is enabled.

Place the shorting block in the “OTG” position to supply power to the USB OTG Connector,

J15. Place the shorting block in the “HOST” position to supply power to the USB Host

Connector, J17.

JP7

Do not use

Used for manufacturing test purposes.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 25 of 35

JP8

USB Serial converter reset disconnect

This is used to connect/disconnect the USB serial converter reset circuit from the PIC32

MCLR pin. The shorting block must be in place on this jumper when using the chipKIT

MPIDE development tools. Remove the shorting block if the USB serial converter is

interfering with proper operation of the licensed debugger circuit.

JP9

Do not use

Used for manufacturing test purposes.

JP10

USB h

ost power disconnect

This jumper is used to disconnect the USB load switch, IC6, from the BRD_VU bus when the

board is being operated from an external power supply with a voltage greater than 5V. This

allows operation of the board from a higher voltage power supply.

Servo connectors

These provide connection for up to 8 RC hobby servos. Each of these connectors provides a

control signal: labeled S; servo power: labeled VS, and a ground connection: labeled G. The

signal pins on these connectors are shared with the signal pins on Pmod connector JC.

JPA

–

JPF &

JPH-

JPK

Pmod header power select

Any of the Pmod headers can be connected to use either regulated or unregulated power. To

use regulated power, place the jumper block over the center pin and the pin marked VCC. To

use unregulated power, place the jumper block over the center pin and the pin marked

BRD_VU.

Cerebot MX4cK Reference Manual

www.digilentinc.com page 26 of 35

Appendix B: Example of Configuration Values

The following example illustrates setting the configuration values in the PIC32 microcontroller on the

Cerebot MX4cK. The microcontroller configuration should be done in a single source file in the

project, and is typically done in the ‘main’ project source file. This example sets all configuration

values to valid values for the Cerebot MX4cK board. It sets the system clock for processor operation

at 80Mhz, and the peripheral bus at 10Mhz.

/* ------------------------------------------------------------ */

/* PIC32 Configuration Settings */

/* ------------------------------------------------------------ */

/* Oscillator Settings

#pragma config FNOSC = PRIPLL // Oscillator selection

#pragma config POSCMOD = EC // Primary oscillator mode

#pragma config FPLLIDIV = DIV_2 // PLL input divider

#pragma config FPLLMUL = MUL_20 // PLL multiplier

#pragma config FPLLODIV = DIV_1 // PLL output divider

#pragma config FPBDIV = DIV_8 // Peripheral bus clock divider

#pragma config FSOSCEN = OFF // Secondary oscillator enable

/* Clock control settings

#pragma config IESO = OFF // Internal/external clock switchover

#pragma config FCKSM = CSDCMD // Clock switching (CSx)/Clock monitor (CMx)

#pragma config OSCIOFNC = OFF // Clock output on OSCO pin enable

/* USB Settings

#pragma config UPLLEN = ON // USB PLL enable

#pragma config UPLLIDIV = DIV_2 // USB PLL input divider

#pragma config FVBUSONIO = OFF // VBUS pin control

#pragma config FUSBIDIO = OFF // USBID pin control

/* Other Peripheral Device settings

#pragma config FWDTEN = OFF // Watchdog timer enable

#pragma config WDTPS = PS1024 // Watchdog timer post-scaler

#pragma config FSRSSEL = PRIORITY_7 // SRS interrupt priority

/* Code Protection settings

#pragma config CP = OFF // Code protection

#pragma config BWP = OFF // Boot flash write protect

#pragma config PWP = OFF // Program flash write protect

/* Debug settings

//#pragma config ICESEL = ICS_PGx2 // ICE pin selection

Cerebot MX4cK Reference Manual

www.digilentinc.com page 27 of 35

Appendix C: Connector Pinout Tables

Arranged by Microcontroller Pin Number

PIC32

Pin #

Connector

Pin #

chipKIT

Pin #

MCU

Port

Bit

PIC32

Signal

Name

Notes

1 JC-04 19 RG15 RG15 also servo S4

3 JA-08 5 RE05 PMD5/RE5

4 JA-09 6 RE06 PMD6/RE6

5 JA-10 7 RE07 PMD7/RE7

6 JD-04 27 RC01 T2CK/RC1

7 JD-10 31 RC02 T3CK/RC2

8 JE-10 39 RC03 T4CK/RC3

9 JK-10 71 RC04 SDI1/T5CK/RC4 also J1-03

10 JB-04 11 RG06 PMA5/SCK2/CN8/RG6

11 JB-03 10 RG07 PMA4/SDI2/CN9/RG7

12 JB-02 9 RG08 PMA3/SDO2/CN10/RG8

14 JB-01 8 RG09 PMA2/SS2/CN11/RG9

17 JF-07 44 RA00 TMS/RA0

18 JH-07 52 RE08 INT1/RE8 also J1-07

19 JE-07 36 RE09 INT2/RE9 also JP5,USB OC_SENSE

20 JJ-08 61 RB05 VBUSON/C1IN+/AN5/CN7/RB5 Selected by J16

21 JJ-07 60 RB04 C1IN-/AN4/CN6/RB4

22 JJ-04 59 RB03 C2IN+/AN3/CN5/RB3

23 JJ-03 58 RB02 C2IN-/AN2/CN4/RB2

24 JJ-02 57 RB01 PGC1/EMUC1/AN1/CN3/RB1

25 JJ-01 56 RB00 PGD1/EMUD1/AN0/CN2/RB0

26 N/A N/A RB06 PGC2/EMUC2/AN6/OCFA/RB6 debug PGC

27 N/A N/A RB07 PGD2/EMUD2/AN7/RB7 debug PGD

28 JK-07 68 RA09 PMA7/Vref-/CVref-/RA9

29 JK-08 69 RA10 PMA6/Vref+/CVref+/RA10

32 JJ-09 62 RB08 C1OUT/AN8/RB8

33 JJ-10 63 RB09 C2OUT/AN9/RB9

34 JK-01 64 RB10 CVrefout/PMA13/AN10/RB10 also LD1

35 JK-02 65 RB11 PMA12/AN11/RB11 also LD2

38 JF-08 45 RA01 TCK/RA1

39 JH-04 51 RF13 U2RTS/BCLK2/RF13

40 JH-01 48 RF12 U2CTS/RF12

41 JK-03 66 RB12 PMA11/AN12/RB12 also LD3

42 JK-04 67 RB13 PMA10/AN13/RB13 also LD4

43 JB-10 15 RB14 PMALH/PMA1/AN14/RB14

Cerebot MX4cK Reference Manual

www.digilentinc.com page 28 of 35

44 JB-07 12 RB15 PMALL/PMA0/AN15/OCFB/CN12/RB15

47 JE-01 32 RD14 CN20/U1CTS/RD14

48 JE-04 35 RD15 U1RTS/BCLK1/CN21/RD15

49 JH-03 50 RF04 PMA9/U2RX/CN17/RF4

50 JH-02 49 RF05 PMA8/U2TX/CN18/RF5

51 N/A N/A RF03 USBID/RF3 USB-4

52 JE-03 34 RF02 U1RX/RF2

53 JE-02 33 RF08 U1TX/RF8

56 N/A N/A RG03 D-/RG3 USB-2

57 N/A N/A RG02 D+/RG2 USB-3

58 J6-1,J6-2 72 RA02 SCL2/RA2 I2C2

59 J6-3,J6-4 73 RA03 SDA2/RA3 I2C2

60 JF-09 46 RA04 TDI/RA4

61 JF-10 47 RA05 TDO/RA5

63 N/A N/A RC12 OSC1/CLKI/RC12 Primary Oscillator

64 N/A N/A RC15 OSC2/CLKO/RC15 Primary Oscillator

66 JF-01 40 RA14 SCL1/INT3/RA14 also J2-01,J2-02 I2C1

67 JF-02 41 RA15 SDA1/INT4/RA15 also J2-03,J2-04 I2C1

68 JH-09 54 RD08 IC1/RTCC/RD8 also J1-08

69 JD-03 26 RD09 IC2/SS1/RD9 also J1-01

70 JD-09 30 RD10 IC3/SCK1/PMCS2/PMA15/RD10 also J1-04

71 JE-09 38 RD11 IC4/PMCS1/PMA14/RD11

72 JH-08 53 RD00 SDO1/OC1/INT0/RD0 also J1-02

73 N/A N/A RC13 SOSCI/CN1/RC13 Secondary Oscillator

74 N/A N/A RC14 SOSCO/T1CK/CN0/RC14 Secondary Oscillator

76 JD-02 25 RD01 OC2/RD1

77 JD-08 29 RD02 OC3/RD2

78 JE-08 37 RD03 OC4/RD3

79 JK-09 70 RD12 PMD12/IC5/RD12

80 JH-10 55 RD13 PMD13/CN19/RD13 also J1-09

81 JB-09 14 RD04 PMWR/OC5/CN13/RD4

82 JB-08 13 RD05 PMRD/CN14/RD5

83 JD-07 28 RD06 PMD14/CN15/RD6 also J1-10

84 JD-01 24 RD07 PMD15/CN16/RD7

87 JC-09 22 RF00 PMD11/RF0 also servo S7

88 JC-10 23 RF01 PMD10/RF1 also servo S8

89 JC-08 21 RG01 PMD9/RG1 also servo S6

90 JC-07 20 RG00 PMD8/RG0 also servo S5

91 JF-03 42 RA06 TRCLK/RA6 also BTN1

92 JF-04 43 RA07 TRD3/RA7 also BTN2

Cerebot MX4cK Reference Manual

www.digilentinc.com page 29 of 35

93 JA-01 0 RE00 PMD0/RE0

94 JA-02 1 RE01 PMD1/RE1

95 JC-03 18 RG14 TRD2/RG14 also servo S3

96 JC-01 16 RG12 TRD1/RG12 also servo S1

97 JC-02 17 RG13 TRD0/RG13 also servo S2

98 JA-03 2 RE02 PMD2/RE2

99 JA-04 3 RE03 PMD3/RE3

100 JA-07 4 RE04 PMD4/RE4

Cerebot MX4cK Reference Manual

www.digilentinc.com page 30 of 35

Arranged by Connector Pin Number and Digital Pin Number

PIC32

Pin #

Connector

Pin #

chipKIT

Pin #

MCU

Port

Bit

PIC32 Signal Name

Notes

93 JA-01 0 RE00 PMD0/RE0

94 JA-02 1 RE01 PMD1/RE1

98 JA-03 2 RE02 PMD2/RE2

99 JA-04 3 RE03 PMD3/RE3

100 JA-07 4 RE04 PMD4/RE4

3 JA-08 5 RE05 PMD5/RE5

4 JA-09 6 RE06 PMD6/RE6

5 JA-10 7 RE07 PMD7/RE7

14 JB-01 8 RG09 PMA2/SS2/CN11/RG9

12 JB-02 9 RG08 PMA3/SDO2/CN10/RG8

11 JB-03 10 RG07 PMA4/SDI2/CN9/RG7

10 JB-04 11 RG06 PMA5/SCK2/CN8/RG6

44 JB-07 12 RB15 PMALL/PMA0/AN15/OCFB/CN12/RB15

82 JB-08 13 RD05 PMRD/CN14/RD5

81 JB-09 14 RD04 PMWR/OC5/CN13/RD4

43 JB-10 15 RB14 PMALH/PMA1/AN14/RB14

96 JC-01 16 RG12 TRD1/RG12 also servo S1

97 JC-02 17 RG13 TRD0/RG13 also servo S2

95 JC-03 18 RG14 TRD2/RG14 also servo S3

1 JC-04 19 RG15 RG15 also servo S4

90 JC-07 20 RG00 PMD8/RG0 also servo S5

89 JC-08 21 RG01 PMD9/RG1 also servo S6

87 JC-09 22 RF00 PMD11/RF0 also servo S7

88 JC-10 23 RF01 PMD10/RF1 also servo S8

84 JD-01 24 RD07 PMD15/CN16/RD7

76 JD-02 25 RD01 OC2/RD1

69 JD-03 26 RD09 IC2/SS1/RD9 also J1-01

6 JD-04 27 RC01 T2CK/RC1

83 JD-07 28 RD06 PMD14/CN15/RD6 also J1-10

77 JD-08 29 RD02 OC3/RD2

70 JD-09 30 RD10 IC3/SCK1/PMCS2/PMA15/RD10 also J1-04

7 JD-10 31 RC02 T3CK/RC2

47 JE-01 32 RD14 CN20/U1CTS/RD14

53 JE-02 33 RF08 U1TX/RF8

52 JE-03 34 RF02 U1RX/RF2

48 JE-04 35 RD15 U1RTS/BCLK1/CN21/RD15

Cerebot MX4cK Reference Manual

www.digilentinc.com page 31 of 35

19 JE-07 36 RE09 INT2/RE9 also JP5, USB OC_SENSE

78 JE-08 37 RD03 OC4/RD3

71 JE-09 38 RD11 IC4/PMCS1/PMA14/RD11

8 JE-10 39 RC03 T4CK/RC3

66 JF-01 40 RA14 SCL1/INT3/RA14 also J2-01,J2-02 I2C1

67 JF-02 41 RA15 SDA1/INT4/RA15 also J2-03,J2-04 I2C1

91 JF-03 42 RA06 TRCLK/RA6 also BTN1

92 JF-04 43 RA07 TRD3/RA7 also BTN2

17 JF-07 44 RA00 TMS/RA0

38 JF-08 45 RA01 TCK/RA1

60 JF-09 46 RA04 TDI/RA4

61 JF-10 47 RA05 TDO/RA5

40 JH-01 48 RF12 U2CTS/RF12

50 JH-02 49 RF05 PMA8/U2TX/CN18/RF5

49 JH-03 50 RF04 PMA9/U2RX/CN17/RF4

39 JH-04 51 RF13 U2RTS/BCLK2/RF13

18 JH-07 52 RE08 INT1/RE8 also J1-07

72 JH-08 53 RD00 SDO1/OC1/INT0/RD0 also J1-02

68 JH-09 54 RD08 IC1/RTCC/RD8 also J1-08

80 JH-10 55 RD13 PMD13/CN19/RD13 also J1-09

25 JJ-01 56 RB00 PGD1/EMUD1/AN0/CN2/RB0

24 JJ-02 57 RB01 PGC1/EMUC1/AN1/CN3/RB1

23 JJ-03 58 RB02 C2IN-/AN2/CN4/RB2

22 JJ-04 59 RB03 C2IN+/AN3/CN5/RB3

21 JJ-07 60 RB04 C1IN-/AN4/CN6/RB4

20 JJ-08 61 RB05 VBUSON/C1IN+/AN5/CN7/RB5 Selected by J16

32 JJ-09 62 RB08 C1OUT/AN8/RB8

33 JJ-10 63 RB09 C2OUT/AN9/RB9

34 JK-01 64 RB10 CVrefout/PMA13/AN10/RB10 also LD1

35 JK-02 65 RB11 PMA12/AN11/RB11 also LD2

41 JK-03 66 RB12 PMA11/AN12/RB12 also LD3

42 JK-04 67 RB13 PMA10/AN13/RB13 also LD4

28 JK-07 68 RA09 PMA7/Vref-/CVref-/RA9

29 JK-08 69 RA10 PMA6/Vref+/CVref+/RA10

79 JK-09 70 RD12 PMD12/IC5/RD12

9 JK-10 71 RC04 SDI1/T5CK/RC4 also J1-03

58 J6-1,J6-2 72 RA02 SCL2/RA2 I2C2

59 J6-3,J6-4 73 RA03 SDA2/RA3 I2C2

26 N/A N/A RB06 PGC2/EMUC2/AN6/OCFA/RB6 debug PGC

27 N/A N/A RB07 PGD2/EMUD2/AN7/RB7 debug PGD

Cerebot MX4cK Reference Manual

www.digilentinc.com page 32 of 35

51 N/A N/A RF03 USBID/RF3 USB-4

56 N/A N/A RG03 D-/RG3 USB-2

57 N/A N/A RG02 D+/RG2 USB-3

63 N/A N/A RC12 OSC1/CLKI/RC12 Primary Oscillator

64 N/A N/A RC15 OSC2/CLKO/RC15 Primary Oscillator

73 N/A N/A RC13 SOSCI/CN1/RC13 Secondary Oscillator

74 N/A N/A RC14 SOSCO/T1CK/CN0/RC14 Secondary Oscillator

Cerebot MX4cK Reference Manual

www.digilentinc.com page 33 of 35

Arranged by Microcontroller I/O Port Name and Bit Number

PIC32

Pin #

Connector

Pin #

chipKIT

Pin #

MCU

Port

Bit

PIC32 Signal Name

Notes

17 JF-07 44 RA00 TMS/RA0

38 JF-08 45 RA01 TCK/RA1

58 J6-1,J6-2 72 RA02 SCL2/RA2 I2C2

59 J6-3,J6-4 73 RA03 SDA2/RA3 I2C2

60 JF-09 46 RA04 TDI/RA4

61 JF-10 47 RA05 TDO/RA5

91 JF-03 42 RA06 TRCLK/RA6 also BTN1

92 JF-04 43 RA07 TRD3/RA7 also BTN2

28 JK-07 68 RA09 PMA7/Vref-/CVref-/RA9

29 JK-08 69 RA10 PMA6/Vref+/CVref+/RA10

66 JF-01 40 RA14 SCL1/INT3/RA14 also J2-01,J2-02 I2C1

67 JF-02 41 RA15 SDA1/INT4/RA15 also J2-03,J2-04 I2C1

25 JJ-01 56 RB00 PGD1/EMUD1/AN0/CN2/RB0

24 JJ-02 57 RB01 PGC1/EMUC1/AN1/CN3/RB1

23 JJ-03 58 RB02 C2IN-/AN2/CN4/RB2

22 JJ-04 59 RB03 C2IN+/AN3/CN5/RB3

21 JJ-07 60 RB04 C1IN-/AN4/CN6/RB4

20 JJ-08 61 RB05 VBUSON/C1IN+/AN5/CN7/RB5 Selected by J16

26 N/A N/A RB06 PGC2/EMUC2/AN6/OCFA/RB6 debug PGC

27 N/A N/A RB07 PGD2/EMUD2/AN7/RB7 debug PGD

32 JJ-09 62 RB08 C1OUT/AN8/RB8

33 JJ-10 63 RB09 C2OUT/AN9/RB9

34 JK-01 64 RB10 CVrefout/PMA13/AN10/RB10 also LD1

35 JK-02 65 RB11 PMA12/AN11/RB11 also LD2

41 JK-03 66 RB12 PMA11/AN12/RB12 also LD3

42 JK-04 67 RB13 PMA10/AN13/RB13 also LD4

43 JB-10 15 RB14 PMALH/PMA1/AN14/RB14

44 JB-07 12 RB15 PMALL/PMA0/AN15/OCFB/CN12/RB15

6 JD-04 27 RC01 T2CK/RC1

7 JD-10 31 RC02 T3CK/RC2

8 JE-10 39 RC03 T4CK/RC3

9 JK-10 71 RC04 SDI1/T5CK/RC4 also J1-03

63 N/A N/A RC12 OSC1/CLKI/RC12 Primary Oscillator

73 N/A N/A RC13 SOSCI/CN1/RC13 Secondary Oscillator

74 N/A N/A RC14 SOSCO/T1CK/CN0/RC14 Secondary Oscillator

64 N/A N/A RC15 OSC2/CLKO/RC15 Primary Oscillator

Cerebot MX4cK Reference Manual

www.digilentinc.com page 34 of 35

72 JH-08 53 RD00 SDO1/OC1/INT0/RD0 also J1-02

76 JD-02 25 RD01 OC2/RD1

77 JD-08 29 RD02 OC3/RD2

78 JE-08 37 RD03 OC4/RD3

81 JB-09 14 RD04 PMWR/OC5/CN13/RD4

82 JB-08 13 RD05 PMRD/CN14/RD5

83 JD-07 28 RD06 PMD14/CN15/RD6 also J1-10

84 JD-01 24 RD07 PMD15/CN16/RD7

68 JH-09 54 RD08 IC1/RTCC/RD8 also J1-08

69 JD-03 26 RD09 IC2/SS1/RD9 also J1-01

70 JD-09 30 RD10 IC3/SCK1/PMCS2/PMA15/RD10 also J1-04

71 JE-09 38 RD11 IC4/PMCS1/PMA14/RD11

79 JK-09 70 RD12 PMD12/IC5/RD12

80 JH-10 55 RD13 PMD13/CN19/RD13 also J1-09

47 JE-01 32 RD14 CN20/U1CTS/RD14

48 JE-04 35 RD15 U1RTS/BCLK1/CN21/RD15

93 JA-01 0 RE00 PMD0/RE0

94 JA-02 1 RE01 PMD1/RE1

98 JA-03 2 RE02 PMD2/RE2

99 JA-04 3 RE03 PMD3/RE3

100 JA-07 4 RE04 PMD4/RE4

3 JA-08 5 RE05 PMD5/RE5

4 JA-09 6 RE06 PMD6/RE6

5 JA-10 7 RE07 PMD7/RE7

18 JH-07 52 RE08 INT1/RE8 also J1-07

19 JE-07 36 RE09 INT2/RE9 also JP5,USB OC_SENSE

87 JC-09 22 RF00 PMD11/RF0 also servo S7

88 JC-10 23 RF01 PMD10/RF1 also servo S8

52 JE-03 34 RF02 U1RX/RF2

51 N/A N/A RF03 USBID/RF3 USB-4

49 JH-03 50 RF04 PMA9/U2RX/CN17/RF4

50 JH-02 49 RF05 PMA8/U2TX/CN18/RF5

53 JE-02 33 RF08 U1TX/RF8

40 JH-01 48 RF12 U2CTS/RF12

39 JH-04 51 RF13 U2RTS/BCLK2/RF13

90 JC-07 20 RG00 PMD8/RG0 also servo S5

89 JC-08 21 RG01 PMD9/RG1 also servo S6

57 N/A N/A RG02 D+/RG2 USB-3

56 N/A N/A RG03 D-/RG3 USB-2

10 JB-04 11 RG06 PMA5/SCK2/CN8/RG6

Cerebot MX4cK Reference Manual

www.digilentinc.com page 35 of 35

11 JB-03 10 RG07 PMA4/SDI2/CN9/RG7

12 JB-02 9 RG08 PMA3/SDO2/CN10/RG8

14 JB-01 8 RG09 PMA2/SS2/CN11/RG9

96 JC-01 16 RG12 TRD1/RG12 also servo S1

97 JC-02 17 RG13 TRD0/RG13 also servo S2

95 JC-03 18 RG14 TRD2/RG14 also servo S3

1 JC-04 19 RG15 RG15 also servo S4