Hola!
Comentandole a un amigo la idea de construir algo parecido a Robonova, me hablo de esta controladora.....
ROBOSTIX ... Alguien la ha usado?
Estos son algunos datos que pueden ver en la pag. del fabricante:
I/O Pins
Looking at the bottom of the robostix, and starting in the top left corner, each section of pins will be described.
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Interrupts
The Interrupts port is really just a collection of miscellaneous pins, only a few of which can cause interrupts.
Pin Label GPIO Other Description
1 PG0 Port G.0 General purpose I/O pin
2 PG1 Port G.1 General purpose I/O pin
3 PG2 Port G.2 General purpose I/O pin
4 T2 Port D.7 Timer/Counter 2, counter source
5 T1 Port D.6 Timer/Counter 1, counter source
6 IC1 Port D.4 Timer/Counter 1 Input Capture Pin
7 INT7 Port E.7 ICP3 External Interrupt 7 Input or Timer/Counter3 Input Capture Pin
8 INT6 Port E.6 T3 External Interrupt 6 Input or Timer/Counter3 Clock Input
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Port C
Port C is made up of 8 general purpose I/O pins.
Pin Label GPIO
1 PC0 Port C.0
2 PC1 Port C.1
3 PC2 Port C.2
4 PC3 Port C.3
5 PC4 Port C.4
6 PC5 Port C.5
7 PC6 Port C.6
8 PC7 Port C.7
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Analog to Digital (A/D)
The A/D pins are connected to a 10-bit analog to digital converter. These pins can also be used as general purpose I/O pins or for connecting a JTAG.
Pin Label GPIO JTAG
1 AD0 Port F.0
2 AD1 Port F.1
3 AD2 Port F.2
4 AD3 Port F.3
5 AD4 Port F.4 TCK
6 AD5 Port F.5 TMS
7 AD6 Port F.6 TDO
8 AD7 Port F.7 TDI
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Pulse Width Modulation (PWM)
The PWM pins have the center row of pins connected to V_MOTOR, which is jumpered to the BOARD connector. If you plan on using servos on the PWM pins, then you should cut the jumper and provide a separate supply for driving the motors.
Pin Label GPIO Function Description
1 PWM 1A Port B.5 OC1A Output Compare Match A for Timer 1
2 PWM 1B Port B.6 OC1B Output Compare Match C for Timer 1
3 PWM 1C Port B.7 OC1C or OC2 Output Compare Match C for Timer 1, or Output Compare Match for Timer 2
1 PWM 3A Port E.3 OC3A or AIN1 Output Compare Match A for Timer 3 or Analog Comparator Negative Input
2 PWM 3B Port E.4 OC3B or INT4 Output Compare Match B for Timer 3 or External Interrupt 4
3 PWM 3C Port E.5 OC3C or INT5 Output Compare Match C for Timer 3 or External Interrupt 5
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Port A
Port A is just a set of pads which you can solder wires to, or solder a surface mount header. These are all GPIO pins.
Pin Label GPIO
1 PA0 PortA.0
2 PA1 PortA.1
3 PA2 PortA.2
4 PA3 PortA.3
5 PA4 PortA.4
6 PA5 PortA.5
7 PA6 PortA.6
8 PA7 PortA.7
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UARTS
In the bottom left corner is the 2x8 UARTs connector. The STUART pins connect to the gumstix (through the 3.3v to 5v voltage converter) and don't connect to the robostix. UART-0 and UART-1 are the two serial ports available from the ATMega128, and the I2C pins are connected to both the gumstix and robostix.
Function Pin Pin Function
STUART RxD (GPIO 46) 1 2 Gnd
+5 3 4 robostix UART-0 TxD (Port E.1)
STUART TxD (GPIO 47) 5 6 +5
Gnd 7 8 roostix UART-0 RxD (Port E.0)
robostix UART-1 RxD (Port D.2) 9 10 Gnd
+5 11 12 I2C SDA (Port D.1) labelled TX
robostix UART-1 TxD (Port D.3) 13 14 +5
Gnd 15 16 I2C SCL (Port D.0) labelled RX
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Gumstix(aka console or FFUART)
Moving to the right a bit more is the 4 pin GUMSTIX connector, which doesn't connect to the robostix at all. It brings the FFUART pins out in 5v logic-level form. Pin 1 is marked on the top side of the board, (from the back, it's the one with the square pad).
Pin Signal
1 Gnd
2 FFUART TxD (GPIO 39)
3 +5
4 FFUART RxD (GPIO 34)
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In System Programming (ISP)
The ISP header (In System Programming) is a 10 pin 2x5 header. Pin 1 is labelled on the top side of the board (from the back, it's the one with the square pad).
Function Pin Pin Function
PDI 1 2 +5
Ground 3 4 Gnd
Reset 5 6 Gnd
SCK 7 8 Gnd
PDO 9 10 Gnd
Note: The ISP port should only be used for programming the robostix when no gumstix is plugged in.
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MOTOR Power
The two pin MOTOR connector is used to provide power to the servos. The square pin (at the edge of the board) is positive and the other pin is ground. Be sure to cut the jumper connecting it to BOARD if you're going to use MOTOR to provide power to the PWM pins.
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BOARD Power
The two pin board connector is used to provide power to the robostix. The square pin (at the edge of the board) is positive and the other pin is ground. The ground side of the connector is disconnected if a power plug is inserted in the power jack.
Por supuesto, hay mucho mas, pueden verlo en
su wiki.
