# Hardware Description

- Hardware Features
- Schematics Diagram
- Electrical Characteristics
- Physical Characteristics
- CS and IRQ
- Memory Map
- Connector Pinouts
- Connector and Cables Diagram
- Hardware Versions
- Data Sheets

### 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
- 16 timing processor I/Os (programmable as input or output)
- 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 (L293D)
- 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

- Digital color camera (CMOS), 80x60 pixels, 24bit color
- Wireless communication modul for EyeBot and PC

### Electrical Characteristics

- Voltage requirement

- required: between 7 V and 9 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

- Total power limit is 3 A
- A resettable fuse of 3 A protects the board, however, high voltage or reverse polarity may damage the board
- Total servo current must not exceed 3 A
- DC motor current must not exceed 1 A each
- Unregulated controller input voltage is supplied to motors
- Encoder feeedback must not exceed 5 V

### 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 (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 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

### Pinout difference only for older version M3

    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

### 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, 2003