HyInt v1 User Manual
From Tribotix Wiki
HyInt v1 was the initial system developed for HyKim. This version of HyInt had the following design:
- the Compulab CM-iGLX used didn't have on board 802.11g - this required the inclusion of a PA3426U-1MPC 802.11 mini-PCI card.
- connectors for VGA, Ethernet and extra USB port are located on the motherboard, PB704A.
- connection to the Body Data Acquisition board, HySense. This connection is via a 10-pin IDC Header. Analog voltages that represent the Supply Battery Voltage and Current are passed to HySense's mcu's A2D pins.
Contents |
[edit] Introduction
The HyInt module can be used in any robotic project where a powerful processor with minimal current draw is required. The image below shows a HyInt which has been fitted to Robotis's CycloidII, the HyInt replaced the CM2 which was supplied as standard with these Humanoids. The name HyInt was derived as an abbreviation/acronym of sorts for Hykim's Intelligence.
HyInt consists of 3 pcb's, the heart of this module being Compulab's CM-iGLX computer module. The other 2 pcb's provide a rugged mounting point for the CM-iGLX as well as circuitry for external intefaces and power distribution and management. One of HyInt's main features is it's ability to communicate directly at 1Mbps with Robotis's range of Dynamixel motors - AX, DX & RX.
Compulab’s CM-iGLX can run either Embedded Linux, Windows CE, or Windows XP. Compulab provide an embedded Linux image based around Gentoo whilst Tribotix have developed an embedded Linux image based around debian etch (Debian 4.0r2), Linux Kernel: 2.6.18 which includes all the required device drivers.
[edit] Hardware
As shown in the illustration below, the HyInt module consists of 3 pcb’s. These are:
- CM-iGLX: this is a prefabricated computer module supplied by Compulab.
- Motherboard: this board is the interface for the CM-iGLX and allows all the CM-iGLX’s ports to be brought out to the appropriate types of connectors. The 802.11g WLAN mini-PCI card is also mounted on this board.
- Power Supply Board: this board is where the supply voltage is converted to 5V and 3.3V for the various electronic modules distributed around HyKim. This board also has circuitry that monitors the supply voltage and alarms the CM-iGLX when the supplied voltage drops below a pre-determined voltage.
The illustration above also shows the Body Data Acquisition module (Body Sensors), this board is mounted horizontally on the top of HYINT via J10 (10-pin connector).
The table below shows the allocation of the ports available to the user on the HyInt module.
| Connector | Port Type | |
| PB704A | J1 | USB3 – Logitech Webcam |
| PB704A | J2 | COM1 – Head Data Acquisition module |
| PB704A | J7 | mini-PCI – 802.11g WLAN module |
| PB704A | J10 | Audio – 1 Channel in and out |
| PB704A | J11 | Ethernet |
| PB704A | J12 | VGA |
| PB704A | J13 | USB1 – Spare USB (available to user) |
| PB704B | J1 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J2 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J3 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J4 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J5 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J6 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J9 | Battery Connector |
| PB704B | J10 | Mounting connector for Body Data Acquisition module |
| PB704B | J11 | Body Data Acquisition module debug port (UART0) |
| PB704B | J12 | Power Supply (2.5mm DC Jack) |
The following sub-sections will provide more specific information for each of the boards that make up HyInt.
[edit] Compulab CM-iGLX module
The CM-iGLX is a prefabricated computer module manufactured by Compulab and it’s features include:
- AMD Geode LXMCU 500MHz x86 architecture:
- no need for cross compilation when using Linux
- Geode LXMCU contains a Floating Point Unit (FPU)
- 256Mb DDR SRAM
- 512Mb FLASH Disk
- Used interfaces:
- 2 x COM ports
- USB (host and slave)
- 100Mbps Ethernet
- VGA
- Mini PCI-bus
- Small Size: 68 x 58mm
- AMD Geode LXMCU 500MHz x86 architecture:
Our original design for HyKim was to use 2 prefabricated boards based around the Intel PXA255. These were originally chosen for their low power consumption, 0.2~3W. If you assume that during normal operation the Intel PXA255 boards used 1.6W, then for 2 boards we’d have consumed 3.2W for 500MIPS (250MIPS per board) – assuming that both boards could run at 100%, i.e. not have to wait for the other processor to complete a task before continuing. Using a single AMD Geode LXMCU we can have 990MIPS plus 270Mflops for 3~5W of power consumption. So the decision to switch from a dual Intel PXA255 to a single AMD Geode LXMCU gave us a better Power vs MIPS and Mflops ratio [ref].
Rather than reproduce all the information that Compulab make available for the CM-iGLX in this manual it is more efficient, and accurate, to direct the reader to Compulab's CM-iGLX web site. The main links of interest to the reader will be:
[edit] Motherboard (PB704A)
Schematics: PB704A
Firmware: N/A
Sub-modules: PA3426U-1MPC 802.11 mini-PCI card
PB704A is the motherboard of the HyInt system as both the CM-iGLX and PB704B (Power Supply) boards connect to it. This board not only provides a secure mounting location for the CM-iGLX but transfers all the necessary signals from the CM-iGLX to appropriate connectors.
The connector allocation for PB704A is shown in the table below.
| Connector | Port Type | |
| PB704A | J1 | USB3 – Logitech Webcam |
| PB704A | J2 | COM1 – Head Data Acquisition module |
| PB704A | J3, J4 & J5 | Connectors used for CM-iGLX |
| PB704A | J6 | Jumper used to clear CM-iGLX’s CMOS |
| PB704A | J7 | mini-PCI – 802.11g WLAN module |
| PB704A | J8 | Connection point for PB704B |
| PB704A | J9 | Connection point for PB704B |
| PB704A | J10 | Audio – 1 Channel in and out |
| PB704A | J11 | Ethernet |
| PB704A | J12 | VGA |
| PB704A | J13 | USB1 – Spare USB (available to user) |
[edit] Power Supply Board (PB704B)
Schematics: PB704B
Firmware: N/A
Sub-modules: N/A
PB704B is the board within the HYINT system that:
- takes the supply voltage, from either the battery pack or the DC jack, and generates 5V and 3.3V that are used by the various sub-modules within HYKIM,
- has circuitry that monitors the battery voltage and at preset levels shutdown the Dynamixel network whilst warning the CM-iGLX that a power shut down is imminent, and
- provides the connectors for the Dynamixel network.
The connector allocation for PB704B is shown in the table below.
| Connector | Port Type | |
| PB704B | J1 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J2 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J3 | USB2 – Dynamixel RS485 Connector (1) |
| PB704B | J4 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J5 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J6 | USB2 – Dynamixel RS485 Connector (2) |
| PB704B | J7 | Connection point for PB704A |
| PB704B | J8 | Connection point for PB704A |
| PB704B | J9 | Battery Connector |
| PB704B | J10 | Mounting connector for Body Data Acquisition module |
| PB704B | J11 | Body Data Acquisition module debug port (UART0) |
| PB704B | J12 | Power Supply (2.5mm DC Jack) |
[edit] Software
[edit] Compulab CM-iGLX module O/S
Compulab provide Linux (Gentoo-based), Windows CE and Windows XP images for the CM-iGLX – for more detailed information on the functionality covered by each OS, the user is directed to Compulab’s Availability of O/S and Drivers for CM-iGLX web page. The actual images can be downloaded from Compulab's Developers Resources for CM-iGLX web page.
In addition to the Linux image made available by Compulab, Tribotix have developed a 250Mb embedded Linux image that includes all the device drivers required for the peripheral hardware connected to HyInt. Details of the image follow.
debian etch (Debian 4.0r2)
Linux Kernel: 2.6.18
apache (1.3.34-4.1)
build-essentials (11.3) which includes:
- dpkg-dev (>= 1.13.5) package building tools for Debian
- g++ (4:4.1.1-15) The GNU C++ compiler
- gcc (4:4.1.1-15) The GNU C compiler
- libc6-dev [not alpha, ia64] GNU C Library: Development Libraries and Header Files also a virtual package provided by libc6.1-dev
- make (3.81-2)The GNU version of the "make" utility.
python (2.4.4-2)
madwifi-source (1:0.9.2+r1842.20061207-2etch1)
madwifi-tools (1:0.9.2+dfsg-1) ?? I need to double check if this one is loaded
webcam (3.95.dfsg.1-1)
[edit] Downloading O/S images to the Compulab CM-iGLX module
This is where we'll put the download instructions ....
[edit] Compulab CM-iGLX module Software
This is where we'll put sample code ....
[edit] Battery Management Software (ATMega8)
PB704B in HyInt v1 has electronics to monitor battery supply voltage, so there is no firmware.
NB. HyInt v2 has an ATMega8 to perform the battery supply voltage and current readings.
