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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:

J3J2J4J5J6
1TP6TP7SCLASDAA/PCS0
2TP-L0TP-L1SCL-LSDA-L/PCS-L
3TP8TP9SCLBSDAB/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: By setting a jumper on J7 the period t_ck can be roughly determined:
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