From 8cbce3d8919bf6c140241bb26cbee4ebfbf93b78 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 5 Nov 2007 01:27:42 +0100 Subject: Added electronic architecture drawing. --- eurobot/2008/electronic-architecture.txt | 50 ++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 eurobot/2008/electronic-architecture.txt (limited to 'eurobot/2008/electronic-architecture.txt') diff --git a/eurobot/2008/electronic-architecture.txt b/eurobot/2008/electronic-architecture.txt new file mode 100644 index 00000000..70188081 --- /dev/null +++ b/eurobot/2008/electronic-architecture.txt @@ -0,0 +1,50 @@ +========================= + Electronic architecture +========================= + +Boards +====== + +IO: + Input/Output board. It acquires information from sensors (switches, IR + distance detectors, color sensors...) and it controls actuators (servo + motors, auxiliary motors...). + + The main component is an AVR, surrounded by many connectors. +AI: + Artificial intelligence board, may optionally be merged with IO board. It + runs the robot automaton and decision algorithms. + + The main component is an AVR, as the board is the same as the IO one. It + contains a flash memory to record the decisions taken by the robot. +Asserv: + Motor control board. Run the algorithms to control robot movement and + position. + + An AVR runs the control logic, and a programmable logic component (an + XC9572, a CPLD from Xilinx) computes the encoders positions. +Motor Power: + It applies consigns from the Asserv board to the motors. An AVR is + responsible to control the current sunk in the motors and a owned-built + H-bridge drive the power. + +Communications +============== + +I²C: + High level communication bus between boards. The AI board is the master + of this bus. +SPI: + The motor power board is connected using a serial high speed bus. +PWM: + Pulse Width Modulation used to drive the motors. +Quadrature: + Raw signal given by the encoders to determine rotation steps and direction. +AVR ISP: + Used to program the AVR microcontrollers. +AVR JTAG: + Used for in circuit debugging. +DEBUG UART: + Used for debug control and diagnostic messages. +CPLD JTAG: + Used to program the CPLD. -- cgit v1.2.3