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Connector layout of the RoboCube

April, 8 1998

General Bus conncectors

Pin	Signal	Pin	Signal
1	GND	2	GND
3	VCC	4	VCC
5	TP0	6	TP1
7	TP2	8	TP3
9	TP4	10	TP5
11	TP6	12	TP7
13	TP8	14	TP9
15	TP10	16	TP11
17	TP12	18	TP13
19	TP14	20	TP15
21	T2CLK	22	NC
23	/CS0	24	/CS1
25	/PCS0	26	/PCS1
27	/PCS2	28	/PCS3
29	MISO	30	MOSI
31	SCK	32	NC
33	TXA	34	RXA
35	TXB	36	RXB
37	TXC	38	RXC
39	SDAA	40	SCLA
41	/CS4	42	/CS5
43	/CS2	44	/CS3
45	/HALT	46	FREEZE
47	/BERR	48	/BKPT
49	NC	50	/RESET
51	/IRQ7	52	NC
53	/IRQ5	54	/IRQ6
55	/IRQ3	56	/IRQ4
57	VCC	58	VCC
59	GND	60	GND

Pin	Signal	Pin	Signal
1	GND	2	GND
3	VCC	4	VCC
5	A0	6	A1
7	A2	8	A3
9	A4	10	A5
11	A6	12	A7
13	A8	14	A9
15	A10	16	A11
17	A12	18	A13
19	A14	20	A15
21	A16	22	A17
23	A18	24	A19
25	A20	26	A21
27	A22	28	A23
29	D0	30	D1
31	D2	32	D3
33	D4	34	D5
35	D6	36	D7
37	D8	38	D9
39	D10	40	D11
41	D12	42	D13
43	D14	44	D15
45	R/W	46	/RESET
47	/DSACK0	48	/DS
49	/AS	50	/DSACK1
51	SDAB	52	SCLB
53	/IRQ1	54	/IRQ2
55	NC	56	NC
57	VCC	58	VCC
59	GND	60	GND

Bus Connector A: H1, H6, H14

Bus Connector B: H2, H5, H13

Connnectors on the I/O baord

Pin	H18	H19	H20	H21	H22	H24
1	VCC
2	AIN0	AIN4	AIN8	AIN12	AIN16	AIN20
3	GND
4	VCC
5	AIN1	AIN5	AIN9	AIN13	AIN17	AIN21
6	GND
7	VCC
8	AIN2	AIN6	AIN10	AIN14	AIN18	AIN22
9	GND
10	VCC
11	AIN3	AIN7	AIN11	AIN15	AIN19	AIN23
12	GND

Analog Inputs: H18, H19, H20, H21, H22, H24

Pin	Signal
1	VCC
2	AOUT0
3	GND
4	VCC
5	AOUT1
6	GND
7	VCC
8	AOUT2
9	GND
10	VCC
11	AOUT3
12	GND
13	VCC
14	AOUT4
15	GND
16	VCC
17	AOUT5
18	GND

Analog Outputs: H15

Pin	H17	H16
2	BIO0	BIO8
4	BIO1	BIO9
6	BIO2	BIO10
8	BIO3	BIO11
10	BIO4	BIO12
12	BIO5	BIO13
14	BIO6	BIO14
16	BIO7	BIO15
1,3,5,7,9,11,13,15	GND

Binary In/Outputs: H16, H17

Pin	Signal
1	GND
2	VCC
3	SDA-L
4	SCL-L
5	TP-L1
6	TP-L0
7	MOSI
8	/PCS-L
9	SCK
10	GND

Adaptive IR extension: H23

To allow for a second I/O board stacked in the system, the I2C bus as well as the SPI interface is selectable by the following jumpers:

	J3	J2	J4	J5	J6
1	TP6	TP7	SCLA	SDAA	/PCS0
2	TP-L0	TP-L1	SCL-L	SDA-L	/PCS-L
3	TP8	TP9	SCLB	SDAB	/PCS1

Jumpering for the adaptive IR system (H23)

	J10	J9	J8
1	SDAB	SCLB	/IRQ2-LOC
2	SDA-LOC	SCL-LOC	/IRQ2
3	SDAA	SCLA	-

Jumpering for the analog and binary I/O system

Connectors on the Busmaster board

Pin	Signal
1	GND
2	VCC
3	TP6
4	TP7
5	TP8
6	TP9
7	TP10
8	TP11
9	TP12
10	TP13
11	TP14
12	TP15

TP extension: H11

Pin	Signal
1	GND
2	VCC
3	/PCS0
4	/PCS1
5	/PCS2
6	/PCS3
7	MISO
8	MOSI
9	SCK
10	-

SPI extension: H12

Pin	Signal
1	GND
2	VCC
3	TXA
4	RXA
5	OP0
6	OP1
7	IP0
8	-

Radio Link: H4

Pin	Signal	Pin	Signal	Pin	Signal
1	GND	7	GND	13	GND
2	OP2	8	OP4	14	OP6
3	OP3	9	OP5	15	OP7
4	TP0	10	TP2	16	TP4
5	TP1	11	TP3	17	TP5
6	VCC	12	VCC	18	VCC

Motor Driver: H3

	RS232-B (H8)	RS232-C (H9)	I2C-B (H10)
1	GND
2	TXDB	TXDC	SDAB
3	GND
4	RXDB	RXDC	SCLB

Serial interfaces + I2C extension

To implement switches the binary inputs of the DUART are put on the header array H7 which is connected to J1 housing a pullup resistor array. The pins of H7 are connected as follows:

Pin	Signal	Pin	Signal
2	GND	1	IP1
4	GND	3	IP2
6	GND	5	IP3
8	GND	7	IP4
10	GND	9	IP5

Binary Inputs of the DUART, H7

Jumper on the CPU board

The ADM1232 on the CPU board (U5) is a power monitor. It resets the CPU whenever the voltage drops below 4.75V. Furthermore, a reset is performed in the following situations:

The reset button (SW1) is pushed
Strobing of the internal CPU clock (by external signal CLKOUT) fails for some period t_ck

By setting a jumper on J7 the period t_ck can be roughly determined:

[1--2:] between 500ms and 2000ms
[open:] between 250ms and 1000ms
[2--3:] between 62.5ms and 250ms

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