Hardware Description
Main Features
- 25MHz 32bit Controller (Motorola 68332)
- 1MB RAM
- 512KB ROM (for system + user programs!)
- 2 motor drivers
- background debugging module
- 1 parallel port
- 2 serial ports
- 8 digital inputs
- 8 digital outputs
- 8 analog inputs
- single compact PCB, almost same size as old EyeBot
- interface for color and grayscale camera
allows real time on-board image processing
(depending on image size and complexity of operation)
- large graphics LCD (128x64 pixels)
- 4 input buttons
- reset button, power switch
- speaker for audio output
- microphone for audio input
- battery level indication
Extensions to previous version
- motor drivers for 2 DC motors included in board
- background debugger BDM circuit included in board
- "plug-and-play" connectors for motors, sensors, camera and serial port
6 infrared sensors, 2 bumper sensors, 6 free analog inputs
- no special download cable required: 9pin RS232 extension cable
- wireless communication system integrated
Connectors for Actuators and Sensors
- digital camera
- 2 DC motors with encoders
- 12 servos
- 6 infrared-sensors (or 6 free digital inputs)
- 2 bumpers (or 2 free digital inputs)
- 6 free analog inputs
Options
- wireless communication modul for EyeBot and PC
- digital color camera (CMOS), 80x60 pixels, 24bit color
Electrical Characteristics
- Voltage requirement
- required: between 7 V and 12 V DC
- normally: 7.2 V
- Power consumption
- EyeBot controller only: 235 mA
- EyeBot controller with EyeCam CMOS camera: 270 mA
- Runtime with 1350 mAh, 7.2 V Li-Ion rechargeable battery (approx.)
- 4 - 5 hours EyeBot controller only
- 1 - 2 hours EyeBot controller with SoccerBot robot and camera,
constantly driving and sensing, depending on program and speed
- Power limitation
- can drive motors and servos up to 3 A
- a 3 A fuse prohibits damage through higher current or wrong polarity
Physical Characteristics
- EyeBot controller
- size: 10.6 cm x 10.0 cm x 2.8 cm (width x height x depth)
- weight: 190 g
- EyeCam camera
- size: 3.0 cm x 3.4 cm x 3.2 cm
- weight: 25 g
- Battery, Li-Ion, rechargeable
- size: 6.9 cm x 3.8 cm x 1.9 cm
- weight: 90 g
- SoccerBot mobile robot (incl. battery and camera)
- size: 12.5 cm x 9.0 cm x 15.0 cm
- weight: 915 g
CS and IRQ
CS
--
CSBOOT Flash-ROM
CS0/1 RAM (1MB max.)
CS2 LCDisplay
CS3 free
CS4 Output latch
CS5 Input latch
CS6 Addresspin A19
CS7 Autovector acknowledge generation
CS8 Parallel port of 16C552
CS9 Serial 1 of 16C552
CS10 Serial 2 of 16C552
IRQ
---
1 INT serial 1 (neg.) of 16C552
2 INT-SIM (100Hz Timer, arbitration 15)
3 INT 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 16C552,
all other INTs are set by software.
Keys (port F)
----
PF0 Key 4
PF2 Key 3
PF4 Key 2
PF6 Key 1
Pinouts
Camera (25 pin)
Standard parallel port
Serial Download (9 pin)
Standard RS-232 serial port
1 -
2 Tx
3 Rx
4 -
5 GND
6 -
7 CTS
8 RTS
9 -
Background Debugger Connector (10 pin)
Standard Motorola background debugger
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
1 Motor +
2 Vcc
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
3 GND
Infrared Connectors (6 times 4 pin)
Sensor outputs are mapped to digital input 0..5
1 GND
2 Vin (pulse)
3 Vcc
4 Sensor output (digital)
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 digital input 6 (pull-up 10K)
2 GND
3 digital input 7 (pull-up 10K)
4 GND
Analog Connector (10 pin)
Microphone is mapped to analog input 0
Battery level gauge is mapped to analog input 1
1 Vcc
2 Vcc
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
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,
UWA logo printed, manufactured by UWA E+E Eng.
Mark 3.11
minor change: miniature camera port added, CIIPS logo printed,
manufactured by AT&M Perth
Data Sheets
MC68332 User 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
74F04 Data Sheet (we use 74HC04, but this one has the same logic functionality)
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
Thomas Bräunl and Ivan Neubronner, 1998