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