Twin Peaks Robotics RRC1-3 Robotic Controller User Manual

Twin Peaks Robotics Robotic Controller Users Manual

Users Manual

RADIO ROBOTICS CONTROLLER BOARD USERS GUIDE
© 2010 Twin Peaks Robotics pg. 2 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE 1 Introduction 1.1 Overview The Radio Robotics Controller (RRC) utilizes a ©Microchip PIC24FJ256GB106 integrated with a ©Texas Instruments CC1101 low-power radio transceiver to provide a wireless robotics control implementation. 16 MIPS Microchip PIC24FJ256GB106 processor Power input between 6 and 15 volts Integral 915MHz Transceiver with built in antenna USB Controller or USB Device port 28 IO connections for robotics control IO programmable to support various perperials 1Mbit EEProm Real Time Clock Accessory Power of 1 Amp at 3 Volts and 1 Amp at 5 Volts Low Power Capable Programmable in C and Assembly, Powerful debuggers available 1.2 Support If you cannot find the information you need in this document or the associated resources listed at the end of this document email your question to support@TwinPeaksRobotics.com or sales@TwinPeaksRobotics.com. 2 Core Features 2.1 Processor The Microchip PIC is 16-Bit processor clocked at 32 MHz resulting in an instruction rate is 16 MIPS. Program memory is 256 Kbytes (87,552 instructions). Data memory is 16,384 bytes. For detailed information about this processor reference the Microchip PIC24FJ256GN110 Family Data Sheet. 2.2 Input Power Input power to the RRC should be between 6 and 15 volts. Current requirements depend on external devices to be powered. If reduced functionality can be tolerated input voltages as low as 3 volts can be used. 2.3 Power Out Through the use of voltage regulators 3 and 5 volts at 1 amp each are available to power external devices.
© 2010 Twin Peaks Robotics pg. 3 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE 2.4 Radio Radio communication is accomplished with a © Texas Instruments CC1101 low-power RF transceiver operating in the 915MHz ISM band. An antenna is part of the PCB so an external antenna is not needed. For more information about this IC reference the Texas Instruments CC1101 Low-Power Sub-1GHz RF Transceiver Data Sheet. Caution: Any changes or modifications not expressly approved by Twin Peaks Robotics could void the user's authority to operate the equipment. 2.5 USB The RRC has a built in USB port that can be configured as a controller or device. In controller mode 5 volts at 500 mA is available to power the USB device. 2.6 EE Prom The RRC has 1 Mbit of EE Prom. The processor accesses this resource with the system SPI port. 2.7 IO The RRC has 24 primary and 5 secondary I/O ports that can be used for robotics control. The primary ports are grouped with a power and ground connection to facilitate connection to sensors. Secondary ports are just signal lines. 2.8 Peripheral Pin Select To maximize the availability of peripheral devices 22 of the primary IO ports can be configured as one of: 4 External Interrupts 9 Input Captures 2 SPI Ports 5 Timer External Clocks 4 UARTs 2.9 I2C Registers x and y can be configured as an I2C port
© 2010 Twin Peaks Robotics pg. 4 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE 2.10 5V Digital IO All IO pins on the RRC can be configured as digital input or digital output. The PIC 24 is a 3V device. In order to support 5V digital IO the 12 primary IO connections on the top connector are 5V input tolerent. The power pin associated with each connection is 5V. By default the signal pin of each connection is 3V but it can be configured as an open collector output and pulled up to 5V. 2.11 3V Digital IO and Analog Input The 12 primary IO connections on the bottom connector are 3V only. They can all be configured as digital input or digital output. 10 of these can be configured as analog to digital input. 2.12 Secondary IO Ports The 7 secondary IO ports do not support peripheral pin select. 3 IO Ports The RRC has for banks of IO ports. At the top of the card there are 12 primary connections. Just these are 4 secondary connections. Primary connections are sets of three pins running top to bottom consisting of a signal, power and ground connection. The signal pin is always on the inside of the board. The power pin is always in the middle and the ground is closest to the board edge Secondary connections are just signals. All connections are located on a .1 inch grid. At the bottom of the board there are another 12 primary connections. Just above them are two secondary. The PIC register associated with the connection is printed next to the connection. 3.1 Top Primary Connector Pin Register Capabilities 1 G9 RP27/PMA2/C2INC/CN11/RG9 2 G8 PMA3/RP19/C2IND/CN10/RG8 3 G7 RP26/PMA4/C1INC/CN9/RG7 4 G6 PMA5/RP21/C1IND/CN8/RG6 5 E3 PMD3/CN61/RE3 6 E2 PMD2/CN60/RE2 7 D5 PMRD/RP20/CN14/RD5 8 D4 PMWR/RP25/CN13/RD4 9 D3 RP22/PMBE/CN52/RD3 10 D2 DPH/RP23/CN51/RD2 11 D1 RP24/VCPCON/CN50/RD1 12 D8 RP2/DMLN/RTCC/CN53/RD8
© 2010 Twin Peaks Robotics pg. 5 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE 3.2 Top Secondary Connections Pin Register Capabilities 1 E5 PMD5/CN63/RE5 2 E1 PMD1/CN59/RE1 3 E4 PMD4/CN62/RE4 4 E0 PMD0/CN58/RE0 3.3 Bottom Primary Connector Pin Register Capabilities 1 B5 PGEC3/RP18/VBUSON/C1INA/AN5/CN7/RB5 2 B4 PGED3/RP28/USBOEN/C1INB/AN4/CN6/RB4 3 B0 PGED1/RP0/PMA6/VREF+/AN0/CN2/RB0 4 B2 VMIO/RP13/C2INB/AN2/CN4/RB2 5 B8 RP8/AN8/CN26/RB8 6 B9 PMA7/RP9/AN9/CN27/RB9 7 B12 TCK/PMA11/AN12/CTED2/CN30/RB12 8 B14 CTPLS/RP14/PMA1/AN14/CN32/RB14 9 B15 RP29/PMA0/AN15/REFO/CN12/RB15 10 F4 PMA9/RP10/SDA2/CN17/RF4 11 F5 PMA8/RP17/SCL2/CN18/RF5 12 F3 RP16/USBID/CN71/RF3 3.4 Bottom Secondary Connections Pin Register Capabilities 1 B10 TMS/PMA13/AN10/CVREF/CN28/RB10 2 B11 TDO/AN11/PMA12/CN29/RB11
© 2010 Twin Peaks Robotics pg. 6 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE 4 Software Development 4.1 Integrated Development Environment 4.2 Compiler 4.3 Debug and Programming 4.4 Device Drivers To facilitate application development a library of device drivers has been developed. These are summarized in Table 3.0 below. Driver Description Compatible Hardware Radio Integrated RRC 915MHz ISM digital radio RRC USB_Joystick USB Master Joystick Controller Dell Mouse Logitech Attack3 Logitech Extreme3D USB_Serial USB Device RS232 Port Any RS232 Table 3.0 – RRC Device Drivers 5 Sources of Additional Information 5.1 Websites The following web sites contain useful information associated with the Radio Robotics Controller: www.TwinPeaksRobotics.com www.Microchip.com 5.2 Documentation The following documentation should be referenced for additional information: Microchip Explorer 16 Development Board User’s Guide 6 Definitions and Abbreviations ISM – Industrial, Scientific, and Medical radio band between 902MHz and 915MHz used by the RRC RRC – Twin Peaks Robotics Radio Robotics Controller
© 2010 Twin Peaks Robotics pg. 7 RADIO ROBOTICS CONTROLLER BOARD USER’S GUIDE USB – Universal Serial Bus

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