Ardumower future PCB
Aus www.wiki.ardumower.de
Inhaltsverzeichnis
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?
CPU board examples
Bus architecture
Motor control loop
Power system
- 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:
- emBlocks (integrated compiler for many CPUs including Rasperry PI, STM32, etc.)
- chibistudio (modified Eclipse)
Generating a new CPU binary image using 'emBlocks' IDE
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
Booting a new CPU binary image from SD card
