Br46 v1

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getting started

  • power the board with 10-25 volts. It should consume ~120mW. And when first powered, the red light flash indicating that it is discoverable by other BT devices.

Initial BT configuration

  • Can communicate directly with the BT module from the 'IMU1' port. With a virgin module, the baud rate is 9600, N, 8, 1. Or just ' <port> 9600' You can connect a PSER directly to this port.
  • Verify module communication with the command "AT" <CR>
  • Change the radio name with 'ATSN,radio_name'. Read back with atsi,2
  • may need to issue fast data mode to radio at boot
  • may want to ignore UART data until connected. (ATSW25)
  • The BT module baudrate needs to be configured to 115,200 to work with the robot. Issue this command:
    • ATSW20,472,0,0,1 <CR>
  • change the COD : ATSC,0000700
    • view with ATSI,5
    • See section 3.6.7 for details.
    • will need to re-connect do serial at this point
  • May wish to change the passcode at some point. It is 'default'
  • change flash rate : ATSW27,ms read back with ATSI,11

config with utility

The utility "" lives in "support_scripts".

By connecting a PSER1 to a board with a blueradio's WT40 (such as the BATRCP3), the blueradio may be configured for use with the robot.

  • First connect the PSER to the module via the 9x1mm headers. Typically a NULL cable is required, thus pins 2 and 3 of the cable will be swapped. The cable requires connections on wires 1,2,3, and 9.
  • PSER1 3 pin aux power connector. The power supply may vary between ~7 and 26 volts. (120mW is the expected load.)
  • Determine the COMM port of the PSER1.
  • Run the utility.

Usage: [options]

  -h, --help            show this help message and exit
  -c COM_PORT, -p COM_PORT, --com_port=COM_PORT
                        COM PORT number for serial port connection
  -g, --get_config      read back the config of the BT module.
  -s, --set_config      set the config of the BT module.
  -N BT_NAME, --name=BT_NAME
                        set the name of the BT module
  -P PASSWORD, --password=PASSWORD
                        TO BE COMPLETED : set the password for the BT module
  -C COD, --COD=COD     set the COD for the BT module

Example : -p 73 -g -N bt_name -C 700 -s

pin commands

  • ATSP,<New PIN>,<Old PIN>  : Sets PIN (Personal Identification Number).
  • ATOP,<PIN> : Overwrites the PIN without needing the old PIN.

wireless BT connection

  • Should be able to pair with the module with standard PC software. Using the pass code 'default'
  • When 'connected' the blue LED is visible.
  • When a BT connection is made or broken, the module reports over the serial port. These message could interfere with FUP command processing.

SC connection

  • Connect the robot FUP to the port labeled SC1
  • Use the port SC2 for programming and communication (with either PSER or SWIFI).
  • If no other device is connected to the SC2, then the BT module will be able to communicate with the robot connected at SC1


  • when sending data wireless to the module, it appears to be very slow and only accept data periodically. (The TX signal shows bursts of data.)
  • when sending data wired to the module, it accepts and transmits it rapid. at 115k baud, not RTS negation, but at 921k there is RTS negation


46 class 2

40 class 1


battery module



  • PSer2hb leaves IO pins as NC. Will need to add pullup/pulldown
  • Pser1 probably also leaves IO as NC.
  • want to use FUP IP pin to disconnected on-board bluetooth Rx driver.

fuses and holders

BATRCP requirements

  • B1 Then a battery module is attached via the power header, the robot will receive the full power and voltage availabl from the battery pack.
  • B2 The circuit will fit in the specified container
  • B3 robot FUP cables will connect to the BATRCP headers PS1, PM1, PI1
  • B4 FUP pass though headers will be accessible
  • B5 BT will indicate it 'status' via a blue and green LED

sc header

  • S1 A connector will extend/pass though the SC ISP signals
  • S2 The SC can be programmed via the SC pass though header
  • S3 SC CMD/RSP is available via the SC pass though header
  • S4 When the SC pass though header is not-connected to a 'PSER'; then the MPD protocol will be avaiable via the bluetooth module.

mc header

  • M1 A connector will extend/pass though the MC ISP signals
  • M2 The MC can be programmed via the MC pass though header
  • M3 MC telemetry is available via the MC pass though header

imu header

  • I1 A connector will extend/pass though the IMU ISP signals
  • I2 The IMU can be programmed via the MC pass though header


  • B1 : can a subject use the robot
  • B2 : can the board be enclosed in the battery pack
  • B3 : can the robot be connect to each of the connectors PS1, PM1, PI1 while installed in the battery pack
  • B4 : can the PSER be connected to PS2, PM2, PI2 when in the battery pack
  • B5 : when powered, does the GREEN led flash and when the BT is connected is the BLUE LED lit

sc header tests

  • S1 : no test required
  • S2 : Connect the PSER to PS2, connect the SC FUP to PS1. Use MPLAB IDE to program the SC
  • S3 : Connect PSER to PS2, run -p <serial port> -n 10 -s 104 should have 10 successful responses
  • S4 : Use the PDA to connect to the BT module, use the engineering status screen to read the status
  • S5 : if the 3.3V supply is 'off', then the BATRCP hardware will reduce its battery power drain to < 1uA

mc header tests

  • M1 : no test required
  • M2 : Connect the PSER to PM2, connect the MC FUP to PM1. Use MPLAB IDE to program the MC
  • M3 : connect PSER and run Verify that telemetry is received and that adjustments can be made
  • M3b : connect the SWIFI and run wifi_fast. Verify that telemetry is received and that adjustments can be made

imu header tests

  • I1 : no test required
  • I2 : Connect the PSER to PI2, connect the IMU FUP to PI1. Use MPLAB IDE to program the IMU



  • passed : S1-S3, M1-M3


  • passed : S1-S3, M1-M3


  • passed : S1-S3, M1-M3

BATMOD requirements