Revision as of 20:50, 12 April 2009

• PCB Hardware Assembly PFCmdMenu iochan Merge
• PCA : SC/MC 218 FET 217 Swiffy

wip4a w/spi

physical interface to robot

power

• The hardware can be powered over the FUP port (WIP4a.PFUP1) or via the 3 pin header (WIP4a.PO3)
• The unit accepts 15-30 volts and requires ~ 2watts

MC Comm (Dataport)

This is the 5 position header (PFUP1) on the WIP4a. It connects to the motor controller FUP.

• straight 1.25mm cable into 5 pin connector (See WIP4a.PFUP1 cable below)
• connect to normal (RED) 5 header on FUP1.pcb
• connect 9 pin 1.00mm cable to MOTOR CONTROLLER PORT pf UPD 200-218 (SC/MC)

SC Comm (MPD proto)

This is the 6 position header (PX1) on the WIP4a. It connects to the state controller FUP.

• uses straight 5 to 6 position 1.25mm into 6 pin connector (See WIP4a.PX1 cable below)
• connect to normal (RED) 5 header on FUP1.pcb
• connect 9 pin 1.00mm cable to STATE CONTROLLER PORT of UPD 200-218 (SC/MC)

mounting

• The Wiport becomes too hot to touch in normal operation. If placed in an enclosure, for long term reliability, it probably requires ventilation, and/or a heat sink.

diagnostics

on power

1. the red led lights to indicate power
2. the yellow leds on the ENDs (DM1, DM7) will flash and bounce back and forth as the devices negotiates a connection with the access point
3. the orange and blue LEDs (DM4 and DM5) light briefly during boot
4. when booting is complete the right side LEDs (red and yellow) will be lit.

when active

1. established TCP connections on port 10001 and 10002 cause DM2 and DM3 to be lit
2. each MPD message will case the flash of the ORANGE LED (DM4), the robot's answer will cause the BLUE LED (DM5) to flash briefly
3. when the dataport is active, and the WIPORT is unable to accept data - the BLUE led will light. (A blue flash without a preceding red flash suggest this case). Some flashing of the BLUE LED is normal as radio packets are lost and retransmitted. Continuous illumination of the BLUE suggest that the TCP connection is broken (is GREEN led lit?). Short term this is not a problem as the WIP4 can buffer minutes of data.

LED details

• DM1 (orange) WiPort diagnostics LED - flashes when booting
• DM2 (orange) indicates a TCP connection on port 10002 (MPD PORT - SC)
• DM3 (green) indicates a TCP connection on port 10001 (DATAPORT - MC)
• DM4 (red) short flash when data received from port 10002
  • longer flash when a command ESC sequence is detected.
• DM5 (blue) short flash when data transmitted on port 10002
  • long flash when the CLEAR SRAM FIFO command is received.
  • continuously lit when Wiport when communication on 10001 is blocking.

• DM6 (red led) indicates 3.3V supply
• DM7 (orange) indicates radio power / active communication (flashes with)

cable construction

5pin for PFUP1

• both ends use 5 position, 1.25mm housings.
• build with 5 wires, appx 6" in length
• this is a straight cable, pin 1 to pin 1

6pin for PX1

• both ends use 1.25mm housing, a 5 position and a 6 position
• built with 5 wires, appx 6" in length
• this is a straight cable (no wires cross), with pin 4 of the 6 position being unused.