Quelltext der Seite Ardumower future PCB

=Abstract=
Not really a future PCB, but some ideas about adding an additional CPU to the existing Ardumower HW/SW architecture...

=Architecture=
* existing MCU (Mega) board for the controlling (actuators), sensing (sensors) - basically, current Ardumower PCB
* new CPU board for high-level control (brain), examples: Rasperry Zero
* commuincation interface and protocol (based on RS232 interface and session protocol)
* simple-to-use (plug&play) IDE (including compiler & drivers) for the new CPU board
* Java interface?


<gallery>
File: raspberry.jpg | CPU board examples
File: Cpu_mcu.png | Bus architecture
File: Imu_motor_control.png | Motor control loop
File: Power_system.png | Power system
</gallery>


* Main: Connectors for PMU, BMU, MMU, AMU, UMU, SMU, GY-521
* PMU (Perimeter Management Unit): Mega 328
* BMU (Bumper Management Unit): Mega 328, pressure sensor
* MMU (Motor Management Unit): Motor drivers
* AMU (Akku Management Unit)
* UMU (Ultra-Schall Management Unit) 
* SMU (Sound Management Unit)

=Commuincation architecture=
* shared serial bus (RS232 RX/TX) for all sensor/actuator devices
* open collector (OC) outputs for signal triggers/interrupts
* TX/RX for communication protocol (session-based)

=CPU hardware support/drivers=
* For the driver side, ChibiOS could be a very nice start . It's an RTOS with high integration of hardware drivers , FATFS integration, LWIP etc... 
 http://www.chibios.org/dokuwiki/doku.php?id=chibios:matrix
 http://www.stevebate.net/chibios-rpi/GettingStarted.html

=IDE/compiler for CPU=
The IDE and integrated compiler should be plug&play (like Arduino IDE). Some ideas:
* [http://www.emblocks.org emBlocks] (integrated compiler for many CPUs including Rasperry PI, STM32, etc.)
* chibistudio (modified Eclipse)

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File: Emblocks.png | Generating a new CPU binary image using 'emBlocks' IDE
</gallery>

=Running new code on the CPU=
Running new code on the new CPU should be simple for end-users. Some ideas:
* For debugging purpose, a serial connection (TX/RX) should be available for running new code, debugging
* For end-users, a small binary (SD card) should be available for download

<gallery>
File: Sdcard.jpg | Booting a new CPU binary image from SD card
</gallery>