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 (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