Data Sheet

CoreDeviceInterfaceSpecifications  ModernRoboticsInc
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ModernRoboticsCoreDeviceInterface
3 Overview
TheModernRoboticsCoreInterfaceDevicehas26portsforconnectingsensorsanddevices thatcanbe
readfromahostviaUSBand.TheCoreDeviceInterface,orCDI,provides8digitalI/Oports,8analog
inputs,2analogoutputs,2PWMoutputsand6I2Cbusports.TheCDI
ispoweredfromthe5vavailable
fromtheUSBconnection.
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ToaccessportsontheCDI,requestsarewrittentothememorymapandresultsarereadfromthe
memorymap.Thestructureallowstheentirememorymaptobereadorwritteninoneoperationand
registersthatare
readonlyareprotectedbythefirmwaresowritestotheseregisterswillbeignored.
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Thefunctionsavailablewilldependontheprogrammingenvironmentimplementationandthehost
system.
4 Ports
TheCDIhasanarrayofportsforconnectionofdifferentsensorsanddevices.Thesearearrangesin
groupsbasedonthefunction.Ground ispin1 ontheCDIandsignifiedbytheblackshadingadjacentto
thepin.Note,thecon nec torblockcolorcodingmatchestheModernRoboticssensor
connectionwires
andpigtails.
4.1 I2C
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ThesixI2CportsareonacommonI2CbussoeachI2Cdevice mu sthaveadifferentI2Caddress.For
ModernRoboticsI2Csens ors,theaddresscanbeselectedtoavoidaddressingconflicts.
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