Super IORoss GlashanJames Wnorowski6.270 : The Handyboard● Created by Fred Martin (Media Lab) in 1995● 2MHz 68HC11 + 32K RAM● 6 Motors, 6 Servos● 8 Digital IO, 24 Analog IO● 2 Shaft Encoders● LCD, pushbuttons● All IO controlled from softwareProblems● Handyboard is 10 year old design (68HC11 no longer available)● No significant updates to design since 1999● Slow, underpowered● Everything done in software – heavy loading causes problems● Contestants beginning to push HB beyond its capabilities● Want new featuresProposed Solution● New board design based around FPGA + Microcontroller● Microcontroller performs high-level control● FPGA performs low-level conrol (controls motors, IO ...)● FPGA (“SuperIO Chip”) - MCU communications via I2C● All the features of the Handyboard and more● Built-in closed loop motor control● Automatic polling of sensor ports● Graphics LCD controllerHigh Level DesignSuperIO DesignInterface I2C:Addressing Modules● Each module has a base address + N registers● Registers accessable over bus● Address space allocated to each module type– 32 regs for motors– 24 for analog– ...Example Driver
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