1. Motor board Rework Andre Pool Confidential
Ad interim Motor Firmware Falcons
October 2015, Veldhoven

2. Re-use RS422 RJ45 board connector
Confidential
<Date>
Yellow and Green LEDs
Atmel reset circuit
RJ45:1 = Xmega reset
Re-use RJ45 enable input
RJ45:2 = Application ID0 / scheduler period (400Hz/2.5ms)
Replace RS422 buffer chip with 4 wires
RJ45:3 = Xmega USART TX
RJ45:4 = Xmega USART RX
RJ45:5 = Application ID1 / scheduler calculation time
RJ45:6 = Application ID2 / scheduler measure time
Common ground
RJ45: 7 GND
Free
RJ45: 8 Not connected (optional to connect to VCC3.3)

3. RJ45:1 = Xmega Reset Circuit
Confidential
<Date>
From RJ45:1 – 100nF to J1:5 (Clock)
1k from pin J1:5 (Clock) to J1:2 (VCC)

4. RJ45:2 = Application ID0 / scheduler perion
Confidential
<Date>
Was “Enable”
Remove R19
Connect RJ45:2 to IC4:41(PE5)
Connect IC5:4 (R21) with IC5:6 (EN_G)

5. Replace RS422 buffer chip with 4 wires
Confidential
Remove IC6 (SN65HVD33)
IC6:2 (422RX / PF2) – IC6:12 (RX+ / RJ45:4) = Xmega USART RX
IC6:3 (422RE / PE7) – IC6:11 (RX- / RJ45:5) = Application ID1
IC6:4 (422DE / PE6) – IC6:10 (TX- / RJ46:6) = Application ID2
IC6:5 (422TX / PF3) – IC6:9 (TX+ / RJ45:3) = Xmega USART TX
Remove R24 (100Ohm)
<Date>

6. IC5 short, IC6, R19, R24 remove and add enable wire
Confidential
IC5: short
IC6: replace by wires
R19: remove
R24: remove
Add enable/PE5 wire
<Date>

7. RJ45: cable “Flexible” RJ45 cable that can be soldered
Confidential
<Date>
“Flexible” RJ45 cable that can be soldered
Reset: USB serial converter DTR
Application ID0: Depending on Motor position 10kOhm to GND
Xmega USART TX: USB serial converter RXD
Xmega USART RX: USB serial converter TX
Application ID1: Depending on Motor position 10kOhm to GND
Application ID2: Depending on Motor position 10kOhm to GND
GND: USB serial converter GND and Application ID 10kOhm
NC or optional 3V3: USB serial converter 3v3

8. Other 2 x USB hub (one left and one right)
Confidential
<Date>
2 x USB hub (one left and one right)
1 x internal USB header to 2xUSB female
5 x USB serial converter
PL2303HX (depending on robot6 test)
FTDI FT232RL (depending on robot6 test)
5 x USB A – USB mini cable
Optional: 2 x cable from PC box to USB hub
NTC ? 4k7 ? Temperature sensor for motor
+ connector for J2 (2.54mm DuPont)

9. Time estimation Modify PCB (? ModelShop ?)
Confidential
<Date>
Modify PCB (? ModelShop ?)
1 hour
Create RJ45 : USB serial converter interface + Application ID
15 minutes
Swap the 5 boards in one robot
2 hours
Open PC box and add internal USB cable to 2x female USB
30 minutes
Add USB cables and switches
Adding temperature sensor
Test
Total per robot
5x(1:30)+2+0:30+0:30+0:15 = 10:45

10. Confidential
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11. Confidential
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