Hardware Description


Main Features

Extensions to previous version

Connectors for Actuators and Sensors

Options


Electrical Characteristics


Physical Characteristics


CS and IRQ

CS
--
CSBOOT Flash-ROM
CS0/1  RAM (1 MB)
CS2    LCDisplay
CS3+7  RAM (addl. 1 MB)
CS4    Input/Output latch (IOBase)
CS5    FIFO camera buffer
CS6    Addresspin A19
CS7    Autovector acknowledge generation
CS8    Parallel port of 16C552
CS9    Serial port1 of 16C552
CS10   Serial port 2 of 16C552

IRQ
---
1      FIFO half-full flag (hardwired)
2      INT-SIM (100Hz Timer, arbitration 15)
3      INT serial 1 (neg.) / serial 2 (neg.) of 16C552
4      INT QSPI and SCI of the QSM (arbitration 13)
5      INT parallel port (neg.) of 16C552
6      INT-TPU (arbitration 14)
7      free

 INT 1,3,5 are hardwired to FIFO or 16C552, resp.,
 all other INTs are set by software.


Keys (port F)
----
PF0    Key 4
PF2    Key 3
PF4    Key 2
PF6    Key 1

Memory Map

(see also const.h)
0x00000000  128KB Robios Area
0x00020000  up to 2MB of User RAM (CS0,1,3,7)
0x00200000  END OF RAM
..........  unused addresses
0x00a00000  TpuBase 2KB
0x00a00800  End of TpuBase
..........  unused addresses
0x00c00000  512KB Flash (CS2)
0x00c80000  End of Flash
..........  unused addresses
0x00e00800  Latches  (CS4)
0x00e01000  FIFO or Latches (CS5)
0x00e01800  Parallel Port/Camera (CS8)
0x00e02000  Serial Port2 (CS9)
0x00e02800  Serial Port3 (CS10)
..........  Unused addresses
0x00fff000  MCU68332 internal registers 4KB
0x01000000  End of registers and addressable RAM

Pinouts Version M5

Serial Port 1 (9 pin, SUB-D female)
Standard RS-232 serial port (12 V)
Usage: Program Download
1  -
2  Tx
3  Rx
4  -
5  GND
6  - 
7  CTS
8  RTS
9  -

Serial Port 2 (9 pin SUB-D male)
Standard RS-232 serial port (12 V)
Usage: BlueTooth Wireless or GPS
1  -
2  Rx
3  Tx
4  -
5  GND
6  - 
7  RTS
8  CTS
9  Power (opt. 5V, Vcc) via switch

Serial Port 3 (10 pin)
Serial RS-232 at TTL level (5 V)
 1  CD'
 2  DTR'
 3  Tx 
 4  CTS'
 5  Rx
 6  RTS'
 7  DSR'
 8  RI'
 9  GND
10  Vcc (5V)

Infrared Port (3 pin)
A standard TV remote control can be used to command the EyeBot
Note: TV remote formats differ. Software has been developed for Nokia VCN620
1 GND
2 Vcc (5V reg. via 330 Ohm)
3 N.C.
4 TPU 13 (via 10K pullup)

Video Output (2 pin, RCA)
This output lets you view the camera signal on a monitor by using a cable
or a wireless video transmitter.
Note: - The signal is only grayscale, not color
      - If the camera is adjusted to a slower frame rate (e.g. CAMInit, required
        for image processing on the EyeBot), the video output cannot be used.
1 Video signal
2 GND

Digital Camera (32 pin)
Note: Camera module is going below the EyeBot connector.
1-8 Data 0-7
11  SDA   / PE2
13  SCL   / PE3
16  VSYNC / P5
12  PCLK  / P4
20  Vcc (5V)
22  Vcc (5V)
31  GND
32  Video out

Speaker (2 pin plus 2 pin)
Piezo speaker
 1 Speaker signal
 2 GND
Speaker 8 Ohm
 1 Speaker signal
 2 GND

Parallel Port (26 pin)
Standard parallel port
 1 Strobe'
 2 Autofxdt'
 3 Data 0
 4 Error
 5 Data 1
 6 Init
 7 Data 2
 8 SLCTIN'
 9 Data 3
11 Data 4
13 Data 5
15 Data 6
17 Data 7
19 ACK
21 BSY
23 PE
25 SLCT
26 Vcc (5V)
10+12+14+16+18+20+22+24 GND

Background Debugger Module (10 pin)
Standard Motorola background debugger, connects to PC parallel port

DC Motor and Encoder (2 times 6 pin)
Motor A: Speed = TPU0, Direction = Port_E0, Encoders = TPU2+3
Motor B: Speed = TPU1, Direction = Port_E1, Encoders = TPU4+5
 1 Motor -
 2 Motor +
 3 GND
 4 Vcc (5V regulated)
 5 Encoder Channel B
 6 Encoder Channel A

Servo (14 times 3 pin)
Servo signals are mapped to TPU channels 0..13
Note: Servo connectors are arraned in 7 rows with 7 pins each.
      The pins for each row are (left to right):
      Signal_ServoA, Vcc, GND, 5V (reg.), GND, Vcc, Signal_ServoB
1  Signal
2  Vcc (unregulated)
3  GND

Position Sensitive Device (6 times 4 pin)
Clock input is mapped to Digital output 0 for all PSDs.
PSD outputs are mapped to: Digital Output 0..5
1  GND
2  Clock input
3  Vcc (5V regulated)
4  Sensor output (digital)

Analog Input (10 pin)
Microphone is mapped to:          Analog Input 0
Battery level gauge is mapped to: Analog Input 1
 1 Vcc (5V regulated)
 2 Vcc (5V regulated)
 3 Analog Input 2
 4 Analog Input 3
 5 Analog Input 4
 6 Analog Input 5
 7 Analog Input 6
 8 Analog Input 7
 9 Analog GND
10 Analog GND
Digital Input/Output (20 pin)
Infrared PSDs are mapped to Digital Output 0 and Digital Input 0..5
 1- 8  Digital Output 0..7
 9-16  Digital Input  0..7
17+18  Vcc (5V)
19+20  GND

Pinouts Version M4

Serial Port 1 - Download (9 pin)
   Standard RS-232 serial port (12 V)
1  -
2  Tx
3  Rx
4  -
5  GND
6  - 
7  CTS
8  RTS
9  -

Serial Port 2 and Wireless Extension (3 + 9 pin)
              Serial RS-232 at TTL level (5 V)
1  RF Gnd     18 GND
2  Antenna    17 Vcc
3  RF Gnd     16 Rx' select
.             15 Tx' select
.             14 Tx data
.             13 .
.             12 Rx data
.             11 CD'
.             10 GND

Serial Port 3 (10 pin)
              Serial RS-232 at TTL level (5 V)
 1  CD'
 2  DTR'
 3  Tx 
 4  CTS'
 5  Rx
 6  RTS'
 7  DSR'
 8  RI'
 9  GND
10  Vcc (5V)

Digital Camera (16 pin)
   16 Pin connector requires 1:1 connection
   (cable with female:female) to EyeCam digital color camera
   Please note: The little pin on the EyeBot side of the cable
                has to point upwards:
                 |--^--|
                 |-----|
 1  STB
2-9 Data 0-7
10  ACK
11  INT
12  BSY
13  KEY
14  SLC
15  Vcc (5V)
16  GND

Parallel Port (25 pin)
   Standard parallel port
 1 Strobe'
 2 PD0
 3 PD1
 4 PD2
 5 PD3
 6 PD4
 7 PD5
 8 PD6
 9 PD7
10 ACK
11 Busy'
12 PE
13 SLCT
14 Autofxdt'
15 Error
16 Init
17 Slctin'
18..25 Ground

Background Debugger Connector (10 pin)
   Standard Motorola background debugger,
   connects to PC parallel port

DC Motor and Encoder Connectors (2 times 10 pin)
   Motors   are mapped to TPU channels 0..1
   Encoders are mapped to TPU channels 2..5
   Please note: Pins are labelled in the following way:
    | 1 | 3 | 5 | 7 | 9 |
    ---------------------
    | 2 | 4 | 6 | 8 | 10|
 1 Motor +
 2 Vcc (unregulated)
 3 Encoder channel A
 4 Encoder channel B
 5 GND
 6 Motor -
 7 --
 8 --
 9 --
10 --

Servo Connectors (12 times 3 pin)
   Servo signals are mapped to TPU channels 2..13
1  Signal
2  Vcc (unregulated)
3  GND

Infrared Connectors (6 times 4 pin)
   Sensor outputs are mapped to digital input 0..3
1  GND
2  Vin (pulse)
3  Vcc (5V regulated)
4  Sensor output (digital)

Analog Input Connector (10 pin)
   Microphone          is mapped to analog input 0
   Battery level gauge is mapped to analog input 1
 1 Vcc (5V regulated)
 2 Vcc (5V regulated)
 3 analog input 2
 4 analog input 3
 5 analog input 4
 6 analog input 5
 7 analog input 6
 8 analog input 7
 9 analog GND
10 analog GND
Digital Input/Output Connector (16 pin)
   [Infrared PSDs are using digital output 0 and digital input 0..3]
 1- 8  digital output 0..7
 9-12  digital input  4..7
13-14  Vcc (5V)
15-16  GND

Pinouts version M3
(differences to M4 only)

NO connector for Serial Port 3
Digital Output Connector (3 pin)
   Motors             are mapped to digital output 0..3
   Infrared PSD pulse is  mapped to digital output 4
1  digital output 5
2  digital output 6
3  digital output 7

Digital Input Connector (4 pin)
   Infrared PSDs are mapped to digital input 0..5
   The remaining 2 inputs have been configured with pull-up resistors and
   GND-pins, so they can directly be connected to a micro switch to build
   two bumpers or similar tactile sensors
1  GND
2  digital input 6 (pull-up 10K)
3  GND
4  digital input 7 (pull-up 10K)

Hardware Versions

Mark 1

two boards, double-sided, rectangular pushbuttons, no speaker, manufactured by Cogito Boeblingen

Mark 2

two boards, double-sided, speaker and microphone on board, changed audio circuit, manufactured by Neue Arbeit Stuttgart (rectangular push buttons) and AT&M Perth (round push buttons)

Mark 2.1

minor change: connect digital and analog ground

Mark 3.0

single board, 4 layers, completely new design, plug-and-play connectors for sensors and motors, motor controllers on board, BDM on board, wireless module and antenna on board

Mark 3.11

minor change: miniature camera port added, manufactured by AT&M Perth

Mark 3.12

minor change: replaced fuse by reconstituting poly-switch, manufactured by AT&M Perth

Mark 4.02

major new version: extension to 2MB RAM, adding fast camera framebuffer, additional connector for 3rd serial port, redesign of digital I/O, manufactured by AT&M Perth 

Mark 5.0

major new version: camera directly connected to EyeBot, new video out, new infrared receiver, changed motor connectors to match Faulhaber motor changes, changed connectors serial 2 to match BlueTooth wireless and GPS, manufactured by AT&M Perth 


Data Sheets

MC68332 User Manual
MC68332 Tutorial
MC68332 CPU32 Manual
MC68332 TPU Manual
Background Debugging Mode documentation
MAX192 Data Sheet
MAX232 Data Sheet
1Mbit SRAM CXK581000A-LLX Data Sheet
2Mbit SRAM CXK582000TM Data Sheet
1Mbit Flash-ROM 29F010 Data Sheet
4Mbit Flash-ROM 29F040 Data Sheet
Flash Algorithm
ST16C552 Data Sheet
74F04 Data Sheet (we use 74HC04, but this one has the same logic functionality)
74F573 Data Sheet (we use 74HC573, but this one has the same logic functionality)
T6963C LCD Controller Data Sheet
L293D Dual Motor Driver Data Sheet
FIFO Buffer 7204


Sharp GP2D02 Infrared Sensor Data Sheet
Digital Compass


Thomas Bräunl, 2005