HOMURA mainboard HMR-KK06 (Summer, 2012)


HMR-KK05からの変更点

・Main PICをPIC24EP512GU810(RAM52k)に変更

・Motor PICおよびGPS PICをPIC24F16KA101(RAM1.5k)に変更.

GPSへの接続は2つともPICのハードウエアのUARTを使用.

この2つのサブコンピュータは,MainPICより電源をON-OFFする.

・加速度センサーKXM52-1050を廃止

・オンボードセンサーとして加速度センサ,磁気センサ,ジャイロセンサをI2C接続でオンボード搭載

加速度&磁気センサは LSM303DLHを2個搭載

ジャイロセンサはL3G4200Dを1個搭載

・RFmoduleへのコネクタを変更.4ピンとし,電源もここからとる.

・PICの未使用ピンは,ADを持つピンの場合,ADにセットしインプットに設定する.ADを持たないピンはデジタルアウトプットに設定する.

 


Block diagram (HMR-KK06)

BlockDiagram

Power system

PowerSystem

TOP View of board

TopView


Main PIC (PIC24EP512GU810)

PIN assign

Port setting PortA PortB PortC PortD PortE PortF PortG

ADconverter setteing

Function setting

Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.

!CAUTION! GPIO pins of B11 and B15 must be set as INPUT and are unusable.


GPS PIC (PIC24F16KA101)

Pin Port ADC Special etc Power Use Setting Function
1 A5 nMCLR Vpp Vpp I nMCLR Vpp
2 A0 AN00 PGC2 Vref+/CN2 O PowerSW of GPS#1
3 A1 AN01 PGD2 Vref-/CN3 AD(I)
4 B0 AN02 U2Tx PGD1/C1IND/C2INB/CN4 O U2Tx to GPS#1
5 B1 AN03 U2Rx PGC1/C1INC/C2INA/U2BCLK/CN5 I U2Rx from GPS#1
6 B2 U1Rx U1BCLK/CN6 I U1Rx from GPS#0
7 A2 AN04 OSCI/CLKI/C1INB/C2IND/CN30 O PowerSW of GPS#0
8 A3 AN05 OSCO/CLKO/CINA/C2INC/CN29 AD(I)
9 B4 PGD3 SOSCI/nU2RTS/CN1 O PGD
10 A4 PGC3 SOSCO/T1CK/nU2CTS/CN0 O PGC
11 B7 U1Tx INT0/CN23 O U1Tx to GPS#0
12 B8 SCL1 nU1CTS/CN22 O
13 B9 SDA1 nU1RTS/CN21 O
14 A6 OC1/IC1/C2OUT/INT2/CTED1/CN8 O
15 B12 AN12 SCK1 HLVDIN/CTED21/CN14 I SCK of SPI
16 B13 AN11 SDO1 CTPLS/CN13 O SDO of SPI
17 B14 AN10 SDI1 Cvref/RTCC/OCFA/C1OUT/INT1/CN12 I SDI of SPI
18 B15 nSS1 T2CK/T3CK/CN11 I nSS of SPI
19 Vss
20 Vdd

Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.


Motor PIC (PIC24F16KA101)

PIN assign Port setting

Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.

CAUTION!
Outputs for the wheel motors are negative logic.
Outputs for the servo motors are positive logic


 

 

Mobile Sensor for Volcanic Observation "HOMURA"
火山観測用自走式センサー「ほむら」
ご意見、ご質問はまで

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2009 3/27更新