Functional - Most of the mower functionalies are implemented and have been tests.
- Implement perimeter wire sensing
- Extend status message to include perimeter wire data
- Test perimeter wire
- Implement panel UART and data transfer
- Extend status message to include top pannel data
- Test pannel integration
To control the mower a text based USB Serial protocol is used. Simply connect to the mower with a USB data cable and open a USB serial connection with the following setting:
- baud rate: 115200
- stop bits: 1
- parity: none
- nb. of bits: 8
Beside some log information mainly at boot time the B005CSerial sends a periodic status update. The status update is a JSON formatted message:
{
'state':0,
'emergency':0,
'blade_state':0,
'blade_temp': 21.20,
'rain':0,
'home':0,
'play':0,
'battery_v': 26.18,
'charger_state:' 0,
'charger_v': 30.98,
'charger_a': 1.02,
}| Command | Parameter Type | Description | Example |
|---|---|---|---|
| arm | Needs to be issued to enable any motor | arm | |
| speed:left_speed right_speed | float (-0.5 to 0.5) | Controls the speed of the left and right wheel | speed:0.3 0.3 |
| cut:on_off | boolean | Controls the cutting blade | cut:1 |
| charger:on_off | boolean | Controls the charger | charger:1 |
| halt | Emergency Stop | halt | |
| ack | Needs to be sent every 500ms to avoid triggering the emergency timeout | ack |
| PIN | Peripheral | Type | Config |
|---|---|---|---|
| A8 (TODO: not working) | Mechanical tilt | GPIO | (HIGH when set) GPIO_MODE_INPUT GPIO_PULLDOWN |
| B8 (TODO: test) | Perimeter Sense Control | GPIO | GPIO_MODE_OUTPUT_PP |
| B9 (TODO: test) | Perimeter Sense Control | GPIO | GPIO_MODE_OUTPUT_PP |
| A10 (TODO: test) | Panle UART Port J16 | UART1 RX (DMA) | |
| A9 (TODO: test) | Panle UART Port J16 | UART1 TX (DMA) | |
| B1 | Buzzer | PWM | TIM4_CH3 |
| C9 | Play button | GPIO | (LOW when pressed) GPIO_MODE_INPUT GPIO_PULLUP |
| E8 | Charge Control Pins | TIM1_CH1N | HighSide/LowSide MosFET |
| E9 | Charge Control Pins | TIM1_CH1 | HighSide/LowSide MosFET |
| B13 | Home button | GPIO | (LOW when pressed) GPIO_MODE_INPUT GPIO_PULLUP |
| E2 | Rain Sensor | GPIO | (LOW when active) GPIO_MODE_INPUT GPIO_PULLUP |
| C0 | Stop button | GPIO | yellow (HIGH when pressed) GPIO_MODE_INPUT GPIO_PULLDOWN |
| C8 | Stop button | GPIO | white (HIGH when pressed) GPIO_MODE_INPUT GPIO_PULLDOWN |
| B2 | LED | GPIO | GPIO_MODE_OUTPUT_PP GPIO_PULLDOWN GPIO_SPEED_HIGH |
| C5 | 24V Enable | GPIO | GPIO_MODE_OUTPUT_PP GPIO_NOPULL GPIO_SPEED_HIGH |
| E14 | Blade Motor nRESET | GPIO | (HIGH for no RESET) GPIO_MODE_OUTPUT_PP GPIO_NOPULL GPIO_SPEED_HIGH |
| E15 | Drive Motors | GPIO | HC366 OE Pins (LOW to enable) GPIO_MODE_OUTPUT_PP GPIO_NOPULL GPIO_SPEED_HIGH |
| D0 | Wheel lift blue | GPIO | GPIO_MODE_INPUT GPIO_PULLDOWN |
| D1 | Wheel lift red | GPIO | GPIO_MODE_INPUT GPIO_PULLDOWN |
| D6 | Driver motors | UART2 RX (DMA) | |
| D5 | Driver motors | UART2 TX (DMA) | |
| C7 | Blade motors | UART6 RX (DMA) | |
| C6 | Blade motor | UART6 TX (DMA) | |
| A12 | USB Serial | USB_DP | |
| A11 | USB Serial | USB_DM | |
| A1 | Charge Current | ADC1 | |
| A2 | Charge Voltage | ADC1 | |
| A3 | Battery Voltage | ADC1 | |
| A7 | Charger Input Voltage | ADC1 | |
| C2 | Blade NTC | ADC1 | |
| A6 | Perimeter | ADC1 (DMA) | |
| H0 | Crystal 8Mhz | RCC HSE | |
| H1 | Crystal 8Mhz | RCC HSE | |
| A10 [not used] | Master UART Port J16 | UART1 RX | |
| A9 [not used] | Master UART Port J16 | UART1 TX | |
| B3 [not used] | SOFT I2C | GPIO | |
| B4 [not used] | SOFT I2C | GPIO | |
| D2 [not used] | STOP HALL Sensor | GPIO | (HIGH when set) TODO: find config |
| D3 [not used] | STOP HALL Sensor | GPIO | (HIGH when set) TODO: find config |
| B3 [not used] | Flash CLK | SPI3 | |
| B4 [not used] | Flash MISO | SPI3 | |
| B5 [not used] | SPI3 Flash MISI | SPI3 | |
| A15 [not used] | Flash nCS | GPIO | GPIO_MODE_OUTPUT_PP GPIO_PULLUP GPIO_SPEED_HIGH |
| C11 [not used] | Master UART Red Port J18 | UART4 RX (DMA) | |
| C10 [not used] | UMaster UART Red Port J18 | UART4 TX (DMA) |