RM605

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RM605 Head Data Acquisition Module

RM605 Top View

The Head Acquisition module, RM605, mounts horizontally within HyKim's as shown in the image below.

RM605 mounted in HyKim's Head

Contents 1 Hardware 1.1 Documentation 1.2 Programming 1.3 GPIO Allocation 2 Software 2.1 Source Code and Firmware 2.2 Protocol 2.3 Commands 2.4 Debugging Tips

[edit] Hardware

[edit] Documentation

Schematics:

• Head Data Acquisition Module - RM0605
• Head Data Acquisition Module - GPIO Allocation

Sub-modules:

• DE DE-ACCM3D Buffered ±3g Tri-axis Accelerometer Datasheet
• AD ADXRS150 ±150°/s Gyro Module
• AD ADXRS150 ±150°/s Gyro Datasheet
• Sharp GP2D12 IR Distance Sensor (10~80cm) Datasheet
• Capacitive Touch Sensor Board - PB0702

Datasheets:

• ATMega128 Datasheet
• Maxim MAX485 (RS485) Datasheet
• TI 8-Channel SPI A2D Converter Datasheet

[edit] Programming

An Atmel ATMega128 is used as the mcu for the Head Data Acquisition module. This mcu can be programmed 2 ways:

1. By the In System Programmer (ISP), J3 - 6pin IDC connector. USB AVRISP’s are commercially available and can be used as one of the methods of programming via the ISP. There are many other circuits that can be built to function as an ISP.
2. via a bootloader configured for UART0. UART0 is connected to COM1 of the CM-iGLX, this allows the user to:
   1. generate an executable on a PC,
   2. transfer the executable wirelessly to the CM-iGLX, then
   3. transfer the executable to UART1 via CM-iGLX’s COM1 port.

The application AVRStudio (freeware) can be used to program the Atmel in C. AVRStudio can be downloaded from Atmel’s web site.

[edit] GPIO Allocation

The Head Data Acquisition module acquires the following data:

1. 1-axis Gyro;
2. 3-axis Accelerometer;
3. Infrared Distance Sensor; and
4. Capacitive Switches (3 of).

The table below describes where each analog signal is read.

Device	Channel	Description
ATMega128	AI0	Infrared Distance Sensor - distance
	AI1	2-axis Gyro – 2.5V reference
	AI2	2-axis Gyro – Rate Out
	AI3	2-axis Gyro – Temperature
	AI4	3-axis Accelerometer - X
	AI5	3-axis Accelerometer - Y
	AI6	3-axis Accelerometer - Z

To aid in programming the Body Data Acquisition module, the table below shows the complete I/O allocation for the ATMega128 and ADS7844.

Device	Pin	Type	Alloc.	Description
ATMega128	51	D	PA0	CS1 (for OLED’s)
	50	D	PA1	DC1 (for OLED’s)
	49	D	PA2	RES1 (for OLED’s)
	48	D	PA3	CS2 (for OLED’s)
	47	D	PA4	DC2 (for OLED’s)
	46	D	PA5	RES2 (for OLED’s)
	11	D	PB1	SCK (for OLED’s)
	12	D	PB2	SDIN (for OLED’s)
	35	D	PC0	OUT1 (J1 p3 – Capacitive Switch pcb)
	36	D	PC1	OUT2 (J1 p4 – Capacitive Switch pcb)
	37	D	PC2	OUT3 (J1 p5 – Capacitive Switch pcb)
	38	D	PC3	GND (J1 p6 – Capacitive Switch pcb)
	39	D	PC4	Shutdown (J1 p7 – Capacitive Switch pcb)
	40	D	PC5	LED1 (J1 p8 – Capacitive Switch pcb)
	41	D	PC6	LED2 (J1 p9 – Capacitive Switch pcb)
	42	D	PC7	LED3 (J1 p10 – Capacitive Switch pcb)
	27	D	PD2	RXD1 (J4 p2– Debug serial channel)
	28	D	PD3	TXD1 (J4 p1 – Debug serial channel)
	2	D	PE0	RXD0 (J5 p2 to CM-iGLX)
	3	D	PE1	TXD0 (J5 p3 to CM-iGLX)
	61	A	PF0	ADC0 - Infrared Distance Sensor - distance
	60	A	PF1	ADC1 2-axis Gyro – 2.5V reference
	59	A	PF2	ADC2 2-axis Gyro – Rate Out
	58	A	PF3	ADC3 2-axis Gyro – Temperature
	57	A	PF4	ADC4 - 3-axis Accelerometer – X
	56	A	PF5	ADC5 - 3-axis Accelerometer – Y
	55	A	PF6	ADC6 - 3-axis Accelerometer – Z

A pdf document with the GPIO allocation may also be downloaded: Head Data Acquisition Module - GPIO Allocation

[edit] Software

HyInt and the Head Data Acquisition Module (RM0605) communicate via a TTL level asynchronous serial channel.

Connection: HyInt COM1 - Head Data Acquisition Module (RM0605) UART0

[edit] Source Code and Firmware

Software:

• ATMega128 bootloader, link to be added here ....
• ATMega128 software, link to be added here ....

Firmware:

• ATMega128 bootloader firmware, link to be added here ....
• ATMega128 firmware, link to be added here ....

[edit] Protocol

HyInt communicates with the Data Acquisition Modules using a 2-wire asynchronous serial channel, the parameters for this serial channel are as follows:

• Baud Rate: 115200Kb/s,
• Number of Data bits: 8,
• Parity: NO,
• Stop Bits: 1.

The network established between HyInt and the Data Acquisition Modules is a MASTER - SLAVE topology, i.e. all commands are initiated by the MASTER, HyInt, whilst the SLAVE simply responds to these commands. For all commands issued by the MASTER, the Data Acquisition Modules will respond with an ID that is equal to the OPCODE. Please note that the Data Acquisition Modules will not respond to any illegal or corrupt packets.

The packet structure used for commands and responses is shown in the tables below:

Command Packet Structure

Length	Value	Description
1	<SOH>	Packet Start byte
1	<ID>	Device ID
2	<LEN>	Data length (Not including <OPCODE>, <CRC> and <LEN>)
1	<OPCODE>	Operation code
0-1024	<DATA>	Data
2	<CRC16 >	Two bytes CRC16 checksum

Response Packet Structure

Length	Value	Description
1	<SOH>	Packet Start byte
1	<ID>	Device ID (reserved for future usage)
2	<LEN>	Data length
1	<Answer ID>	Operation code
0-1024	<DATA>	Data
2	<CRC16 >	Two bytes CRC16 checksum

Definitions:

• <SOH> = Start byte. (0xFF)
• <CRC16> is the same which is used by Xmodem/Ymodem, Formula: CRC16 = x^16 + x^12 + x^5 + 1

Example:

Here is an example of the data flow, e.g. sending a ‘Get Distance’ command to head board:

SENDER: <soh> 0x02 0x01 0x00 0x00 – CRC(High) – CRC(Low)

RECEIVER: <soh> 0x02 0x01 0x00 0x04 - data(4bytes)- CRC(High) - CRC(Low)

[edit] Commands

Read Distance

This command will read the IR Distance Sensor

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x01	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x01	Answer ID
Distance	2		Distance value(cm)
ADC value	2		Original ADC value from distance sensor

Read Accelerometer

This command will read the Accelerometer sensor

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x02	Operation code
ACCM Channel	1	0-2	Accelerometer channel number

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x02	Answer ID
ACCM value	2		Accelerometer value (g*113.7)

Read Digital Compass

This command will read the Digital Compass

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x03	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x03	Answer ID
Compass value1	2	0-360	Compass value without tilt compensation
Compass value2	2	0-360	Compass value with tilt compensation

Read ADC value

This command will read the 8 channel internal or external ADC

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x04	Operation code
ADC Channel	1	0-15(body board) 0-7(head board)	ADC channel number 0-7: internal ADC 8-15: External ADC

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x04	Answer ID
ADC value	2		ADC value

Read All ADC Values

This command will read the 8 channel internal or external ADC channels

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x05	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x05	Answer ID
ADC value	16		Internal 10 bits 8 channel ADC value
ADC value	16		External 12 bits 8 channel ADC value

Set Led Status

This command will set the onboard LED status

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x06	Operation code
LED Status	1	0x00-0x08	Bit0 : LED0 Bit1: LED1 Bit2: LED2 Bit3: Auto controlled by sensor See details in the table below

Description of byte ‘LED Status’

:Bit	:Description
:0	:0: LED0 off, 1: LED0 on
:1	:0: LED1 off, 1: LED1 on
:2	:0: LED2 off, 1: LED2 on
:3	:0: LED0-LED2 controlled by bit0-bit2 :1: then bit0-bit2 disabled, i.e. the 3 LEDS will be controlled by sensor board

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x06	Answer ID

Calibrate Compass

This command will start/stop calibration of the digital compass

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x07	Operation code
Axis	1		1: Start XY axis calibration 2: Z Axis calibration 3: Stop calibration

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x07	Answer ID

Calibration procedure:

• Put the Body Data Acquisition module parallel to the ground.
• Send Calibration XY axis command to Body Data Acquisition module.
• Turn the robot 720 degrees, must be kept parallel to the ground.
• Send stop calibration command.
• Send Calibration Z axis command to Body Data Acquisition module.
• Turn the dog in three dimensions, try all possible directions.
• Send stop calibration command.

Set/Rest Compass

This command will set/reset the digital compass’s offset strap to minimize the soft ion effect. Better to set/reset compass if the device is moved into a new place without restarting the power.

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x08	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x08	Answer ID

Read Gyro

This command will read the gyro value

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x09	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x09	Answer ID
Value	2		Gyro value ((Value*5)/4096 °/s/Value) Clockwise rotation is positive output*

NB. *Only available in Body Data Acquisition module, dummy data will be returned by Head Data Acquisition module

Read All Value

This command will read all peripherals

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x10	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x10	Answer ID
Value 1	2		Distance
Value 2	2		Accelerometer X(g*113.7)
Value 3	2		Accelerometer Y(g*113.7)
Value 4	2		Accelerometer Z(g*113.7)
Value 5	2		Compass (without tilt compensation) *
Value 6	2		Compass (with tilt compensation) *
Value 7	2		Gyro((Value*5)/4096 °/s/Value) *
Value 8	2		Battery Voltage Monitor*
Value 9	2		Battery Current Monitor*
Value 10	2		Temperature (C°=25+((Value*5000)/(4096*8.4)))*
Value 12	1		Touch pad value* 0x00: No pad is pressed 0x01: Pad 1 is pressed 0x02: Pad 2 is pressed

NB. *Only available in Body Data Acquisition module, dummy data will be returned by Head Data Acquisition module

Update Main

This command will start the main flash update function of Atmega128. The host should run this command first then followed by YModem protocol to send the binary file within 10 seconds. After updating, the Atmega will reboot.

The firmware image file must be a plain binary image and the file name must start with “main”, for example “main_1_0_0_1_28_06_2007_Head.bin”

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x20	Operation code

Note: this command has no answer command

Update Bootloader

This command will start the boot flash update function of Atmega128.

This command is has not been finished.

Read Main Version

This command will read the version information of the main program. Version info example: “main_1_0_0_1_04_05_2007.bin”

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x22	Operation code

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x22	Answer ID
Version	26		Version string

Read Bootloader Version

This command will read the version information of the bootloader program.

This command is has not been finished.

Shutdown

This command will do two functions:

1. Reset Atmega
2. Set Atmega into power down mode

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x24	Operation code
Function	1		0: Reset Atmega 1: Set to power down mode

Switch Port

This command will switch the communication port (Uart port). This command is for debug only.

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x25	Operation code

Read EEPROM

This command will read data from internal EEPROM (4Kbyte size)

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x26	Operation code
Start Address	2		Read start address
Length	2		Bytes to read

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x26	Answer ID
EEPROM Data	1-1024		EEPROM data

Write EEPROM

This command will write data into Atmega’s EEPROM

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x27	Operation code
Start Address	2		Write start address
Data	0-1022		Bytes to be written

Note: The length of bytes to be written is defined in packet’s length. The number of bytes to be written = packet length -2.

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x27	Answer ID

OLED Write Cmd

This command will write command set into the OLED.

There are two OLED's in the robot:

OLED ID:=

0: choose left eye

1: choose right eye

2: choose both eyes

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x31	Operation code
Device No	1	0-2	OLED device number
OLED CMD	1		OLED command
OLED data	1-n		Data to be written

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x31	Answer ID

OLED Set Display mode

This command will set OLED display mode.

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x27	Operation code
Device No	1		OLED device number
Display Mode	1	0-3	Display mode 0: All off 1: All on 3: Inverse display

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x32	Answer ID

OLED Initialize (Default Mode)

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x32	Operation code
Device No	1		OLED device number

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x32	Answer ID

OLED Set Column

This command will set column address

Command format

Field	Size (byte)	Value	Description
OPCODE	1	0x33	Operation code
OLED ID	1	0-2	OLED device number
Column	1		Column address(0-131)

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x33	Answer ID

OLED Set Row

This command will set row address

Field	Size (byte)	Value	Description
OPCODE	1	0x34	Operation code
OLED ID	1	0-2	OLED device number
Row	1		Row address(0-131)

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x34	Answer ID

OLED Set Position

This command will set column and row address

Field	Size (byte)	Value	Description
OPCODE	1	0x35	Operation code
OLED ID	1	0-2	OLED device number
Column	1		Column address(0-131)
Row	1		Row address(0-131)

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x35	Answer ID

OLED Draw Pixel

This command will draw a pixel on screen

Field	Size (byte)	Value	Description
OPCODE	1	0x38	Operation code
OLED ID	1	0-2	OLED device number
Blue	1	(0-255)	Blue value
Green	1	(0-255)	Green value
Red	1	(0-255)	Red value

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x38	Answer ID

OLED Power Saving Mode

This command will set LCD into power saving mode

Field	Size (byte)	Value	Description
OPCODE	1	0x39	Operation code
Power saving Mode	1	0-1	0: Power saving mode off 1: Power saving mode on

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x39	Answer ID

OLED Draw Line

This command will draw line in screen

Field	Size (byte)	Value	Description
OPCODE	1	0x42	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127
Row start	1	0-127
Col end	1	0-127
Row end	1	0-127
Colour	2	0-0xffff	RRRRRGGGGGGBBBBB

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x42	Answer ID

OLED Draw Rectangle

This command will draw rectangle

Field	Size (byte)	Value	Description
OPCODE	1	0x43	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127
Row start	1	0-127
Col end	1	0-127
Row end	1	0-127
Line Colour	2	0-0xFFFF	RRRRRGGGGGGBBBBB
Fill Colour	2	0-0xFFFF	RRRRRGGGGGGBBBBB

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x43	Answer ID

OLED Draw Circle

This command will draw circle

Field	Size (byte)	Value	Description
OPCODE	1	0x44	Operation code
OLED ID	1	0-2	OLED device number
Col of centre	1	0-127
Row of centre	1	0-127
Radius	1	0-127
Line Colour	2	0-0xFFFF	RRRRRGGGGGGBBBBB
Fill Colour	2	0-0xFFFF	RRRRRGGGGGGBBBBB

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x44	Answer ID

OLED Copy

This command will Copy the rectangular region defined by the starting point and the ending point to location. If the new coordinates are smaller than the ending points, the new image will overlap the original one.

Field	Size (byte)	Value	Description
OPCODE	1	0x45	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127
Row start	1	0-127
Col end	1	0-127
Row end	1	0-127
Col new start	1	0-127
Row new start	1	0-127

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x45	Answer ID

OLED Clear

This command will sets the window area specify by starting point and the ending point to clear the window display.

Field	Size (byte)	Value	Description
OPCODE	1	0x47	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127
Row start	1	0-127
Col end	1	0-127
Row end	1	0-127

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x47	Answer ID

OLED Set Fill Mode

This command will enable or disable filling of colour into rectangle in draw rectangle command.

Field	Size (byte)	Value	Description
OPCODE	1	0x48	Operation code
OLED ID	1	0-2	OLED device number
Fill mode	1	0-1	0: Fill mode off 1: Fill mode on

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x48	Answer ID

OLED Text Box

This command will set text box size for command “Print String”.

Field	Size (byte)	Value	Description
OPCODE	1	0x53	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127
Row start	1	0-127
Col end	1	0-127
Row end	1	0-127

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x53	Answer ID

OLED Print string

This command will print string in the area set by command OLED TEXTBOX(0x53).

Field	Size (byte)	Value	Description
OPCODE	1	0x56	Operation code
OLED ID	1	0-2	OLED device number
String	1-1023	ASCII	String to be printed

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x56	Answer ID

OLED Draw Picture

This command will draw a bitmap picture.

Field	Size (byte)	Value	Description
OPCODE	1	0x60	Operation code
OLED ID	1	0-2	OLED device number
Col start	1	0-127	Column start address
Row start	1	0-127	Row start address
Picture ID	1	0-3	0: Uni Logo 1: Dog’s left eye 2: Dog’s right eye

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x60	Answer ID

OLED Draw Battery Bar

This command will draw the battery bar on right screen.

Field	Size (byte)	Value	Description
OPCODE	1	0x64	Operation code
Battery Value	1	0-100	Battery value(total 5 bars) 0: empty 100: full

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x64	Answer ID

OLED Move Eyes

This command will move dog’s eyes.

Field	Size (byte)	Value	Description
OPCODE	1	0x66	Operation code
Left OLED Posn	1	0-13	There are total 13 positions. 0: 0 o’clock while 11: 11 o’clock, 12: is the centre of the eye, and 13: is Random positions
Right OLED Posn	1	0-13	There are total 13 positions. 0: 0 o’clock while 11: 11 o’clock, 12: is the centre of the eye, and 13: is Random positions

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x66	Answer ID

OLED Draw Eyes

This command will clear the old eyes and draw dog’s eyes in the new address.

Field	Size (byte)	Value	Description
OPCODE	1	0x67	Operation code
Col (left)	1	0-127	Left eye centre column address
Row (left)	1	0-127	Left eye centre row address
Col (right)	1	0-127	Right eye centre column address
Row(right)	1	0-127	Right eye centre row address

Answer Command

Field	Size (byte)	Value	Description
Answer ID	1	0x67	Answer ID

[edit] Debugging Tips

There is a second Uart port which is used for debug. In normal mode, you can only to see debug information through this Uart. You can also switch it to communication port, by simply type “PC” then Enter in Hyper Terminal. After that you can send command listed in ‘section 6’ to the board and even update the firmware image.