Datasheet

• USART Communication - the system will check for problems in the configuration between
the Navigation computer and the board. It will also detect if errors in the data transmission
have occurred. When a problem is detected the system will:
• Update the Error Status;
• Send the Error Status to the Motor Board;
• Re-initialize the USART communication ports.
Then the system will verify whether the USART problem has been solved. If not, it will try to
correct the problem until it has been corrected or the watchdog reset will be activated. In this
case the board will make a complete reset.
If the problem is solved the system will:
• Clear the Error Status;
• Send the Error Status to the Motor Board.
• Collision Detection - The system will detect if the bumper switches have been activated. In
case of collision detection the system will:
• Update the Collision Status;
• Send the Collision Status to the Motor Board.
If no collision is detected the system will:
• Clear the Collision Status;
• Send the Collision Status to the Motor Board (only after a collision is detected).
• Obstacle Detection - The system will get the sonar information from the Sonar Board, and
check for possible obstacles. If an obstacle is detected inside the safety area the system will:
• Update the Obstacle Status and the obstacle’s distance;
• Send the Obstacle Status and the obstacle’s distance to the Motor Board.
if no Obstacle is detected the system will:
• Clear the Obstacle Status;
• Send the Obstacle Status to the Motor Board (only after an obstacle is detected).
• Motor Board Status - The System will get status information from the Motor Board and verify
if problems have occurred. The Motor Board Status will give the information about the
communication between the two PI controllers, communication errors, Motor, Drivers and
Electronic power supply problems. If a problem is detected the system will:
• Force the Motor Board Reset;
• Update Motor Board Error Status;
• Disable the Power from the Motor Drivers.
If no error is detected the system will:
• Update Motor Board Error Status.
• Battery and Charger Management - The system will measure all the batteries’ voltages,
cable and manage the power connection and charges. The Battery and Charger
Management will be explained later.
• Sample Environment Sensors - Check all the environment sensors.
The I2C communication between the device that is connected to the Sensor&Management is always
checked by the use of checksums inside the sent and received data packages. The I2C control
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 29