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7. AVR Pin Assignment Table Sorted by Pin
| Port A Pins | Orangutan Function | Notes/Alternate Functions |
|---|---|---|
| PA0 | analog input and digital I/O | ADC input channel 0 (ADC0) |
| PA1 | analog input and digital I/O | ADC input channel 1 (ADC1) |
| PA2 | analog input and digital I/O | ADC input channel 2 (ADC2) |
| PA3 | analog input and digital I/O | ADC input channel 3 (ADC3) |
| PA4 | analog input and digital I/O | ADC input channel 4 (ADC4) |
| PA5 | analog input and digital I/O | ADC input channel 5 (ADC5) |
| PA6 | analog input and digital I/O | ADC input channel 6 (ADC6) |
| PA7 | analog input and digital I/O | ADC input channel 7 (ADC7) |
| Port B Pins | Orangutan Function | Notes/Alternate Functions |
|---|---|---|
| PB1 | LCD control line R/W | Divided system clock output (CLKO) Timer/Counter 1 External Counter Input (T1) |
| PB2 | LCD control line E | External interrupt 2 (INT2) Analog Comparator Positive Input (AIN0) |
| PB3 | digital I/O | Timer0 PWM output A (OC0A) Analog Comparator Negative Input (AIN1) |
| PB4 | digital output* | Timer0 PWM output B (OC0B) SPI Slave Select Input (SS) |
| PB5 | auxiliary processor control line | SPI Master Output/Slave Input (MOSI) ISP programming line |
| PB6 | auxiliary processor control line | SPI Master Input/Slave Output (MISO) ISP programming line |
| PB7 | auxiliary processor control line | SPI Clock (SCK) ISP programming line |
| Port C Pins | Orangutan Function | Notes/Alternate Functions | PC0 | digital I/O | I2C/TWI clock line (SCL) |
|---|---|---|
| PC1 | digital I/O | I2C/TWI input/output data line (SDA) |
| PC2 | LCD data line DB4 | user pushbutton (pressing pulls low) |
| PC3 | LCD data line DB5 | user pushbutton (pressing pulls low) |
| PC4 | LCD data line DB6 | green user LED (high turns LED on) |
| PC5 | LCD data line DB7 | user pushbutton (pressing pulls low) |
| PC6 | M2 direction control line | |
| PC7 | M1 direction control line |
| Port D Pins | Orangutan Function | Notes/Alternate Functions | PD0 | digital I/O | USART0 input pin (RXD0) |
|---|---|---|
| PD1 | digital I/O | red user LED (low turns LED on; connection can be cut and replaced with jumper) USART0 output pin (TXD0) |
| PD2 | digital I/O | USART1 input pin (RXD1) External interrupt 0 (INT0) |
| PD3 | digital I/O | USART1 output pin (TXD1) External interrupt 1 (INT1) |
| PD4 | buzzer | Timer1 PWM output B (OC1B) |
| PD5 | digital I/O | servo pulse output (SPWM) Timer1 PWM output A (OC1A) |
| PD6 | M2 speed control line | Timer2 PWM output B (OC2B) |
| PD7 | M1 speed control line | Timer2 PWM output A (OC2A) |
| Misc. Pins | Orangutan Function | Notes/Alternate Functions |
|---|---|---|
| AREF | ADC reference pin | |
| AVCC | supply voltage for Port A and ADC | not accessible to the user |
| RESET | Reset input | reset button (pressing resets MCU) |
| XTAL1 | 20 MHz resonator input | not accessible to the user |
| XTAL2 | 20 MHz resonator input | not accessible to the user |
*: Using PB4/SS as an input will interfere with communication to the auxiliary processor, so we recommend using it as a digital output. See Section 3.j of the Pololu USB AVR C/C++ User’s Guide for more information.
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