XV-11+PCB+Information

Information on the Main PCB, part lists and data on headers.



(on bottom side of PCB) ||
 * ~ Neato XV-11 BOM and Parts identification ||  ||
 * **Ref. Desg.** || **Manufacturer** || **Part Number** || **Description** ||
 * U1 || Allegro || A3950SEUTR-T || DMOS Full-Bridge Motor Driver ||
 * U5 || Allegro || A3950SEUTR-T || DMOS Full-Bridge Motor Driver ||
 * U16 || ST || LIS302DL || 3-axis - ± 2g/± 8g smart digital output “piccolo” accelerometer ||
 * U17 || Fairchild || MM74HC4051MTC || 8-Channel Analog Multiplexer ||
 * U18 || Fairchild || MM74HC4051MTC || 8-Channel Analog Multiplexer ||
 * U26 || Allegro || A4490EESTR-T || Triple Output Step-Down Switching Regulator ||
 * U29 || ATMEL || AT91SAM9XE128-QU || AT91 ARM Thumb Microcontrollers PQFP208 ||
 * U32 || Winbond || W988D6FB || SDRAM (typeno varies) - 256Mb (32MByte) Mobile LPSDR ||
 * U34 || ZETEX || ZXMHC3A01T8 || COMPLEMENTARY 30V ENHANCEMENT MODE MOSFET H-BRIDGE ||
 * U36 || National Semi || NC7SZ14 || Tiny UHS Inverter with Schmitt Trigger Input ||
 * U39 ||  ||   ||   ||
 * U44 || National Semi || NC7SZ14 || Tiny UHS Inverter with Schmitt Trigger Input ||
 * U45 || National Semi || NC7SZ14 || Tiny UHS Inverter with Schmitt Trigger Input ||
 * U35 || ST || NAND128W3A2BN6 || 16MByte small-page NAND flash
 * U45 || National Semi || NC7SZ14 || Tiny UHS Inverter with Schmitt Trigger Input ||
 * U35 || ST || NAND128W3A2BN6 || 16MByte small-page NAND flash

XV-11 will result in a complete loss of programming. No known recovery method at this time. || purposes. || For battery locations, viewing XV-11 from above with the laser at the bottom and bumpers up top: Wire Color\Pins Orange,Blue\1,2 = Left Battery Yellow,Green\3,4 = Right Battery || For button locations, viewing XV-11 from above with the laser at the bottom and bumpers up top: Wire Color\Pins Blue\1,2 = Left Side Yellow\3,4 Top Left Purple\5,6 Top Right Orange\7,8 Right Side || P6:1 Unused (square pad), P6:2 AT91_RXD, P6:3 AT91_TXD, P6:4 Ground || Pins 1,2 = Brush motor power 3,4,5 = Input from encoder || 1,2,3 = Top Right Side **Wall Distance Sensor** (Sharp 0A51SK F 0X) || For sensor locations, viewing XV-11 from above with the laser at the bottom and bumpers up top: Pins 1,2,3 = Top Left Distance Sensor (Sharp 0A51SK F 0X) 4,5,6 = Top Left Hall Effect Sensor (Allegro 21E) 7,8,9 = Top Right Distance Sensor (Sharp 0A51SK F 0X) 10,11,12 = Top Right Hall Effect Sensor (Allegro 21E) || Pins 1,2 = motor power 3,4,5 = Input from encoder || Pins 1,2 = motor power 3,4,5 = Input from encoder ||
 * ~ Ref. Desg. ||~ Description ||
 * J1 || **Charging** Jack ||
 * J2 || **UI Board** (LCD/Buttons) ||
 * J3 || Direct connection to the **ERASE** line of the AT91 processor!! Shorting this jumper and rebooting the
 * SW1 || Switch input used to **hard reboot** the processor. Probably used in conjunction with J3 for development
 * P1 || **Battery pack thermistor** input (Thermistor measures ~10k at 70 degrees Fahrenheit on battery)
 * P2 || **Main power** input ||
 * P3 || Header for **Bluetooth module** (BlueSMiRF) ||
 * P4 || Unknown. Leads to SPI of the AT91 processor: Probably MMC/SD connection. ||
 * P5 || **Bumper switch** inputs x4
 * P6 || Header used to communicate with the AT91 via **serial connection**.
 * P8 || **LIDAR Motor** connector ||
 * P9 || **Brush motor** Input/Output
 * P10 || JTAG. Bottom row: VDDIO (square pin), TRST, TDI, TMS, TCK. Top row: GND, GND, SRST, TDO, RTCK. The JTAG-port unfortunately is software-disabled for debugging the ARM processor core. ||
 * P11 || Viewing XV-11 from above with the laser at the bottom and bumpers up top:
 * P12 || **LIDAR power/serial** connection ||
 * P13 || **Magnetic strip sensors** and **floor distance sensors** (detecting edge before falling down stairs)
 * P14 || **Speaker** ||
 * P16 || **Dustbin installed/removed** input (Soft rubber button under dustbin) ||
 * P18 || **Charging** input for wall docking charger ||
 * P19 || **Vacuum motor** ||
 * P20 || **USB** Connection to ATMEL processor ||
 * P22 || **Right Wheel**
 * P23 || **Left Wheel**
 * P24 || **Temperature input** from brush motor, taped to motor (Measures ~10k at 70 degrees Fahrenheit) ||