Hardware Description

Hardware Features
Schematics Diagram
Electrical Characteristics
Physical Characteristics
Connector Pinouts
Connector and Cables Diagram
Hardware Versions
Data Sheets

Main Features

400MHz ARM-9 PXA255 Processor
Xilinx Spartan 3E FPGA
64MB RAM
16MB FLASH memory
Linux 2.6 operating system
2MB of SRAM connected to FPGA for temporary storage
4 motor drivers
6 PSD inputs
14 servo controller outputs
2 serial ports
8 digital inputs
8 digital outputs (four of them are shared with camera 2 data pins)
3 analog inputs
2 serial ports
2 digital color cameras
Large graphics TFT LCD display (480x272 pixels)
Touch screen input
3 USB hosts and one USB slave
10/100Mbps Ethernet LAN
Bluetooth wireless
AC97 audio device
On board speaker, line-in and line-out connectors
On board microphone and external microphone connector
Power switch
Battery level indication

Connectors for Actuators and Sensors

2 digital cameras
4 DC motors with encoders
14 servos
6 PSDs
8 free digital inputs
8 free digital outputs (four of them are shared with camera 2 data pins, they are not available if camera 2 is in use)
3 free analog inputs

Options

Digital color camera (CMOS), 352x288 pixels

Electrical Characteristics

Voltage requirement

required: between 8 V and 15 V DC
normally: 12 V

Power consumption

EyeBot controller only: 300 mA

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 and motor current must not exceed 3 A
Unregulated controller input voltage is supplied to motors
Encoder feeedback must not exceed 5 V
Digital I/O input must not exceed 5 V
ADC input range is 0 to 7.5V

Physical Characteristics

EyeBot controller

size: 11cm x 2.5cm x 12cm (width x height x depth)
weight:

Camera module (C3038)

size: 4.0 cm x 3.2 cm x 2.8 cm
weight: 14 g

Chip Select

CS

---

NCS0   Boot-Flash

NCS1   Ethernet controller

NCS2   USB Host controller

NCS3   FPGA

Pinouts Version M6

Serial Port 1 (9 pin, SUB-D female)

Standard RS-232 serial port (12 V)

Usage: Serial console

J7:

1  -

2  Tx

3  Rx

4  -

5  GND

6  -

7  CTS

8  RTS

9  Power (5V, Vcc via 500mA fuse)

J9 when on, connect RTS pin of Serial 1 to 5 V

Serial Port 2 (9 pin SUB-D male)

Standard RS-232 serial port (12 V)

Usage: BlueTooth Wireless or GPS

J6:

1  -

2  Rx

3  Tx

4  -

5  GND

6  -

7  RTS

8  CTS

9  Power (5V, Vcc via 500mA fuse)

J8 when on, connect RTS pin of Serial 2 to 5 V

USB Port

There are 4 USB 2.0 ports available onboard (one of them is a USB slave port)

J11 – USB slave (miniUSB connector)

P1A – USB1 (USB B connector)

P1B – USB2 (USB B connector)

P3  - USB3 (4 terminal pins)

1 5V Vcc

2 USB_N

3 USB_P

4 GND

Ethernet port

The board supports 10/100 MBit ethernet connection

J13 (RJ45 connector)

1 Tx+

2 Tx-

3 Rx+

6 Rx-

8 GND

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 Connected to GPIO82 of Gumstix (via 4k7 pullup)

Video Outputs (2 pin x 2)

This output lets you view the camera signal on a monitor by using a cable

or a wireless video transmitter.

J35 - video output for left camera

1 Video signal

2 GND

J36 - video output for right camera

1 Video signal

2 GND

Digital Camera interface (32 pin x 2)

J21 - Left camera

J22 - Right camera

1-8 Data 0-7

9   CAMOFF / PWOFF

11  SDA

13  SCL

14  HREF

16  VSYNC

18  PCLK

19  EXCLK

20  Vcc (3.3V)

22  Vcc (3.3V)

31  GND

32  Video out

Audio

One onboard Speaker

Three audio jack connectors for external speaker/microphone:

J2 - Audio Line-out connector

J3 - Mic-in connector

J4 - Audio Line-in connector

DC Motor and Encoder (4 times 6 pins)

J30 - Motor 1

J31 - Motor 2

J32 - Motor 3

J33 - Motor 4

 1 Motor -

 2 Motor +

 3 GND

 4 Vcc (5V regulated)

 5 Encoder Channel B

 6 Encoder Channel A

JP2 controls the power source of motor 1 and 2

JP3 controls the power source of motor 3 and 4

1                       5V

2                       Motor power

3                       VBATT (8-15V)

Servo (14 times 3 pin)

Servo control signals are generated by fpga

Note: Servo connectors are arranged 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

J14-J20:

1  Signal

2  Vcc (unregulated)

3  GND

Position Sensitive Device (6 times 4 pin)

6 PSD on J24-J29

1  GND

2  Clock input

3  Vcc (5V regulated)

4  Sensor output (digital)

Analog Input (5 pin)

J5:

1 Vcc (5V regulated)

2 Analog Input 0

3 Analog Input 1

4 Analog Input 2

5 Analog GND

Digital Input/Output (20 pin)

There are 16 digital I/Os on two I/O banks. (8 I/Os on each bank).  Digital I/Os 4..7 on bank1 are shared with camera 2, they are not available if camera 2 is in used

J34:

1                       3.3V

2                       5V

 3-10  Digital I/O 0..7 on bank0

11-18  Digital I/O 0..7 on bank1

19  GND

20  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

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

Mark 5.0

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

Mark 6.0

major new version: This is a complete redesign of EyeBot. It uses a 400Mhz ARM9 processor running on Linux 2.6 operating system. The system includes a Xilinx FPGA, which processes most of the signals for sensors, actuators and digital I/Os. Two digital cameras are connected directly to the FPGA allows low-level image processing to be implemented on the FPGA. Other new features include color LCD display, touch screen input, stereo camera, Ethernet LAN, USB ports and AC97 audio device.