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
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
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
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
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)
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
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
Sharp GP2D02 Infrared Sensor Data Sheet
Digital Compass