A.2 Electrical Specifications
The Cerebellum allocates the
PIC16F877 datasheet I/O pins to various Mappings, broken down by Mapping in the following tables.
| Signal Name | Pin Mapping
|
| RA0 | A0 Analog Input Pin
|
| RA1 | A1 Analog Input Pin
|
| RA2 | A2 Analog Input Pin and Vref-
|
| RA3 | A3 Analog Input Pin and Vref+
|
| RA5 | A5 Analog Input Pin
|
| RE0 | E0 Analog Input Pin
|
| RE1 | E1 Analog Input Pin
|
| RE2 | E2 Analog Input Pin
|
Analog I/O Pins
| Signal Name | Pin Mapping
|
| RD0 | D0 Digital I/O and Servo Port 0
|
| RD1 | D1 Digital I/O and Servo Port 1
|
| RD2 | D2 Digital I/O and Servo Port 2
|
| RD3 | D3 Digital I/O and Servo Port 3
|
| RD4 | D4 Digital I/O and Servo Port 4
|
| RD5 | D5 Digital I/O and Servo Port 5
|
| RD6 | D6 Digital I/O and Servo Port 6
|
| RD7 | D7 Digital I/O and Servo Port 7
|
| RC2 | PWM1 port, also used for controlling motor 1
|
| RC1 | PWM2 port, also used for controlling motor 2
|
Digital I/O pins and Servo pins
| Signal Name | Pin Mapping
|
| RB0 | B0 Digital I/O and Green LED
|
| RB2 | B2 Digital I/O and Yellow LED
|
| RB4 | B4 Digital I/O and Button A
|
| RB5 | B5 Digital I/O and Button B
|
Overloaded Button and LED Digital I/O pins
| Signal Name | Pin Mapping
|
| RA4 | Direction bit 1 for motor 1
|
| RC0 | Direction bit 2 for motor 1
|
| RC2 | PWM1 signal for motor 1
|
| RB1 | Direction bit 1 for motor 1
|
| RC5 | Direction bit 2 for motor 1
|
| RC1 | PWM2 signal for motor 2
|
Motor Control pins
| Signal Name | Pin Mapping
|
| RC3 | I2C clock line "SCL"
|
| RC4 | I2C data line "SDA"
|
| RC6 | Serial transmit line "Tx"
|
| RC7 | Serial receive line "Rx"
|
Serial and I2C communications pins
| Signal Name | Pin Mapping
|
| RB3 | Low voltage program line
|
| RB6 | Program clock line
|
| RB7 | Program data line
|
Programming pins
| Signal Name | Pin Mapping
|
| MCLR | Master program line - not used, pulled up to 5V
|
| NC | Not used
|
| VSS | Electrical Ground
|
| VDD | Electrical Power (+5V)
|
| OSC1 | Oscillator Input
|
| OSC2 | Oscillator Output
|
Power and Ground pins
Absolute Maximum Ratings
| Parameter | Maximum
|
| Input Voltage | 26 Volts
|
| Input Current | 5 Amps
|
| 5V Regulated Output Current | 1 Amp
|
| Servo Bus Voltage | User-Defined
|
| Servo Bus Current | 5 Amps
|
| Motor Bus Voltage | 46 Volts
|
| Motor Bus Current | 4 Amps
|
| I/O pin sink/source current | 25 Milliamps
|
Recommended operating conditions
| Parameter | Min | Typ | Max | Units
|
| Input Voltage | 4.85 | 6 | 15 | Volts
|
| Input Current | 20 | 50 | 5000* | Milliamps
|
| 5V Regulated Output Current | - | 500 | 1000 | Milliamps
|
| Servo Bus Voltage | - | 6 | - | Volts
|
| Servo Bus Current | - | - | 5 | Amps
|
| Motor Bus Voltage | 8 | 12 | 30 | Volts
|
| Motor Bus Current | - | 500 | 2000 | Milliamps
|
| I/O pin sink/source current | - | - | 25 | Milliamps
|
| Output Low Voltage | 0 | - | 0.6 | Volts
|
| Output High Voltage | 4.3 | - | 5 | Volts
|
| Total PortA, PortE, and PortB source current (combined) | - | - | 200 | Milliamps
|
| Total PortC and PortD source current (combined) | - | - | 200 | Milliamps
|
| Total PortA, PortE, and PortB sink current (combined) | - | - | 200 | Milliamps
|
| Total PortC and PortD sink current (combined) | - | - | 200 | Milliamps
|
