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Yanzhe Cui, Justin Montgomery, Sangjun Eom
Purdue University, West Lafayette, IN, 47907, USA
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Collaborative Robotics Lab, Purdue University
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3
Board Name Purpose
TRC1000 RecoNode Main Board
TRC1002 RecoNode Main Board – FX40 dual-core
TRC1105 Power Supply Board
DU109 Morphing Bus Adapter Board for ML405
DU110, DU111 V6502/OmniVision Camera Board
TRC1120 DC Motor I/O Board
TRC1121 RC Servo Output Board
TRC1140 IMU Board
DU141 ADC Board
TRC1150 ZigBee Communication Board
DU151 (not designed) Dual-Band Communication Board
DU155
TRC1151, TRC1152?
Bluetooth Communication BoardEthernet, USB, WiFi
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4
Major Chips:
1. Virtex 4
2. DRAM
3. PROM
Version:
V0.61
Working Status:
Download Codes and
Work fine
FPGA chip Virtex 4 is
embedded a
PowerPC 405, on this
board, it has 2 male
morphing bus
connectors.
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5
The 405 Core enables high performance designs
in which low cost, low power and versatility are the
critical selection criteria.
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6
Major Chips:
1. TPS75003
2. LTC3426
Version:
V1.0
Working Status:
It can provides 4-level
voltages(1.2V, 2.5V,
3.3V, 5V) correctly.
But we need to correct
2 wiring errors in V1.1
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7
Version:
V1.0
Working Status:
Will be produced, it
works for ML405.
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8
Version:
Rev A
Working Status:
should be tested again,
and make sure it can
work correctly.
1 female morphing bus connector
1 male morphing bus connector
1 channel for camera
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9
Version:
Rev A
Working Status:
Being designed, will be
produced..
1 female morphing bus connector
1 male morphing bus connector
1 channel for camera
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10
Major Chips:
L6205
Version:
Rev1.0
Working Status:
Can get the parameters
of the motor, works fine
1 female morphing bus connector
1 male morphing bus connector
2 channels for DC motors
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11
Version:
Rev 1.2
Working Status:
J6 wiring error
1 female morphing bus connector
1 male morphing bus connector
2 channels for RC servos
Updated to a single-wedge
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12
Major Chips:
1. LSM303DLH
2. AD799x
3. ITG-3220
Version:
Rev1.1
Working Status:
C4 wiring error
Gyros??
1 female morphing bus connector
1 male morphing bus connector
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13
Major Chips:
AD7991
Version:
Rev1.0
Working Status:
Not available
1 female morphing bus connector
1 male morphing bus connector
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14
Major Chips:
1. CC2520
2. I-PEX connector
3. Chip antenna
Version:
V 1.0
Working Status:
Digital Part can work;
RF Part can not work.
RevB will be designed
according to TI’s
Reference and will be
produced.
ZigBee Chip
with two kinds of
antennas
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15
Major Chips:
Version:
V 1.0
Working Status:
Board has been
designed and
powered up. Drivers
do not yet exist
Ethernet processor
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16
Major Chips:
Version:
V 1.0
Working Status:
Board has been
designed and
powered up. Drivers
do not yet exist
USB processor
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17
Major Chips:
1. LMX9830SM
2. Chip Antenna
Version:
Rev A
Working Status:
The prototype works fine, now
we are designing DU155 which
has the morphing bus connector.
Bluetooth Chip with chip antennas
1 female morphing bus connector
1 male morphing bus connector
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18
Major Chips:
1. LMX9830SM
2. CC2520
3. Chip Antenna
Version:
Rev A
Working Status:
VaporWare
This board can support Bluetooth
and ZigBee Communication together
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Morphing Bus 1 on TRC1000
GND GND
GND GND
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
3.3V
5V
3.3V
5V
B7
A7
C8
A8
B9
A9
B10
A10
B11
F8
F7
G9
G7
H7
H6
J9
J5
K8
K7
L10
L9
B6
C3
C4
D3
D4
E3
E5
F3
F4
G4
G5
H3
H4
J3
J4
K3
K6
L5
L7
M5
M6
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GND
GND
3.3V
5V
C23
D23
E23
F23
D24
F24
G24
C22
D21
B17
D18
E17
M24
GND
GND
3.3V
5V
C21
E21
E22
C19
D19
F19
L23
L24
G22
A17
C18
F17
M22
Morphing Bus 2 on TRC1000
1 2
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
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Thank You
19
MorphingBus1_Pin_Assignment_TRC1000.pdfDrawing1.vsdxPage-1
MorphingBus2_Pin_Assignment_TRC1000.pdfNew Microsoft Visio
Drawing.vsdxPage-1
