MI100 Firmware
This software is written in an Arduino sketch. It runs on an ATTiny1634 based simple two motors robot MI100.
Motivation
MI100 is a simple wireless robot. It has a PIEZO, a full color LED, light sensor (optional) and two motors. MI100 is designed for helping children to enjoy studying programming language running on a laptop, Raspberry pi et cetra.
Installation with Arduino IDE 1.5.7 (or later possibly)
Please refer to https://github.com/monoxit/monoxit-hardspec
Installation with Arduino IDE 1.0.5
Prerequisite:
- Arduino IDE 1.0.5 with the below environment
- Tiny core library from https://github.com/rambo/arduino-tiny/tree/attiny1634 in sketch book folder
- AVR_8_bit_GNU_Toolchain_3.4.3_1072 in arduino hardware>tools>avr folder
- An AVR writer
boards.txt section for ATTiny1634 on MI100
##########################################################################
#Original Idea From: https://github.com/rambo/arduino-tiny/blob/attiny1634/hardware/tiny/boards.txt
#
attiny1634at8bod2d7.name=ATTiny1634 @ 8 MHz (internal oscillator; BOD 2.7V)
attiny1634at8bod2d7.upload.using=arduino
attiny1634at8bod2d7.upload.maximum_size=16384
attiny1634at8bod2d7.upload.maximum_ram_size=1024
# Default clock (slowly rising power; long delay to clock; 8 MHz internal)
# Int. RC Osc. 8 MHz; Start-up time PWRDWN/RESET: 6 CK/14 CK + 64 ms; [CKSEL=0010 SUT=0];
# Brown-out detection 2.7V; [BODLEVEL=101]
# Preserve EEPROM memory through the Chip Erase cycle; [EESAVE=0]
# BOD sample mode [BODACT=01; BODPD=01;]
attiny1634at8bod2d7.bootloader.low_fuses=0xE2
attiny1634at8bod2d7.bootloader.high_fuses=0xD5
attiny1634at8bod2d7.bootloader.extended_fuses=0xEA
attiny1634at8bod2d7.bootloader.path=empty
attiny1634at8bod2d7.bootloader.file=empty_all.hex
attiny1634at8bod2d7.build.mcu=attiny1634
attiny1634at8bod2d7.build.f_cpu=8000000L
attiny1634at8bod2d7.build.core=tiny
ATTiny1634 section in avrdude.conf in arduino hardware>tools>etc
#------------------------------------------------------------
# ATtiny1634.
# From https://github.com/rambo/arduino-tiny/blob/attiny1634/avrdude/avrdude_tiny1634.conf
# MODIFICATION NOTICE:
# 2013.12.13 Masami Yamakawa Modify loadpage_lo, loadpage_hi and writepage
# Original Idea for the modification: http://savannah.nongnu.org/bugs/?40144 submitted by Tobias Diedrich
#------------------------------------------------------------
part
id = "t1634";
desc = "ATtiny1634";
has_debugwire = yes;
flash_instr = 0xB6, 0x01, 0x11;
eeprom_instr = 0xBD, 0xF2, 0xBD, 0xE1, 0xBB, 0xCF, 0xB4, 0x00,
0xBE, 0x01, 0xB6, 0x01, 0xBC, 0x00, 0xBB, 0xBF,
0x99, 0xF9, 0xBB, 0xAF;
stk500_devcode = 0x86;
# avr910_devcode = 0x;
signature = 0x1e 0x94 0x12;
pagel = 0xd7;
bs2 = 0xc2;
chip_erase_delay = 9000;
pgm_enable = "1 0 1 0 1 1 0 0 0 1 0 1 0 0 1 1",
"x x x x x x x x x x x x x x x x";
chip_erase = "1 0 1 0 1 1 0 0 1 0 0 x x x x x",
"x x x x x x x x x x x x x x x x";
timeout = 200;
stabdelay = 100;
cmdexedelay = 25;
synchloops = 32;
bytedelay = 0;
pollindex = 3;
pollvalue = 0x53;
predelay = 1;
postdelay = 1;
pollmethod = 1;
pp_controlstack =
0x0E, 0x1E, 0x0E, 0x1E, 0x2E, 0x3E, 0x2E, 0x3E,
0x4E, 0x5E, 0x4E, 0x5E, 0x6E, 0x7E, 0x6E, 0x7E,
0x26, 0x36, 0x66, 0x76, 0x2A, 0x3A, 0x6A, 0x7A,
0x2E, 0xFD, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00;
hventerstabdelay = 100;
progmodedelay = 0;
latchcycles = 5;
togglevtg = 1;
poweroffdelay = 15;
resetdelayms = 1;
resetdelayus = 0;
hvleavestabdelay = 15;
resetdelay = 15;
chiperasepulsewidth = 0;
chiperasepolltimeout = 10;
programfusepulsewidth = 0;
programfusepolltimeout = 5;
programlockpulsewidth = 0;
programlockpolltimeout = 5;
memory "eeprom"
paged = no;
page_size = 4;
size = 256;
min_write_delay = 3600;
max_write_delay = 3600;
readback_p1 = 0xff;
readback_p2 = 0xff;
read = " 1 0 1 0 0 0 0 0",
" 0 0 0 x x x x a8",
" a7 a6 a5 a4 a3 a2 a1 a0",
" o o o o o o o o";
write = " 1 1 0 0 0 0 0 0",
" 0 0 0 x x x x a8",
" a7 a6 a5 a4 a3 a2 a1 a0",
" i i i i i i i i";
loadpage_lo = " 1 1 0 0 0 0 0 1",
" 0 0 0 0 0 0 0 0",
" 0 0 0 0 0 0 a1 a0",
" i i i i i i i i";
writepage = " 1 1 0 0 0 0 1 0",
" 0 0 x x x x x a8",
" a7 a6 a5 a4 a3 a2 0 0",
" x x x x x x x x";
mode = 0x41;
delay = 5;
blocksize = 4;
readsize = 256;
;
memory "flash"
paged = yes;
size = 16384;
page_size = 32;
num_pages = 512;
min_write_delay = 4500;
max_write_delay = 4500;
readback_p1 = 0xff;
readback_p2 = 0xff;
read_lo = " 0 0 1 0 0 0 0 0",
" 0 0 0 a12 a11 a10 a9 a8",
" a7 a6 a5 a4 a3 a2 a1 a0",
" o o o o o o o o";
read_hi = " 0 0 1 0 1 0 0 0",
" 0 0 0 a12 a11 a10 a9 a8",
" a7 a6 a5 a4 a3 a2 a1 a0",
" o o o o o o o o";
loadpage_lo = " 0 1 0 0 0 0 0 0",
" 0 0 0 x x x x x",
" x x x x a3 a2 a1 a0",
" i i i i i i i i";
loadpage_hi = " 0 1 0 0 1 0 0 0",
" 0 0 0 x x x x x",
" x x x x a3 a2 a1 a0",
" i i i i i i i i";
writepage = " 0 1 0 0 1 1 0 0",
" 0 0 0 a12 a11 a10 a9 a8",
" a7 a6 a5 a4 x x x x",
" x x x x x x x x";
mode = 0x41;
delay = 6;
blocksize = 128;
readsize = 256;
;
memory "lfuse"
size = 1;
min_write_delay = 4500;
max_write_delay = 4500;
read = "0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0",
"x x x x x x x x o o o o o o o o";
write = "1 0 1 0 1 1 0 0 1 0 1 0 0 0 0 0",
"x x x x x x x x i i i i i i i i";
;
memory "hfuse"
size = 1;
min_write_delay = 4500;
max_write_delay = 4500;
read = "0 1 0 1 1 0 0 0 0 0 0 0 1 0 0 0",
"x x x x x x x x o o o o o o o o";
write = "1 0 1 0 1 1 0 0 1 0 1 0 1 0 0 0",
"x x x x x x x x i i i i i i i i";
;
memory "efuse"
size = 1;
min_write_delay = 4500;
max_write_delay = 4500;
read = "0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0",
"x x x x x x x x o o o o o o o o";
write = "1 0 1 0 1 1 0 0 1 0 1 0 0 1 0 0",
"x x x x x x x x i i i i i i i i";
;
memory "lock"
size = 1;
min_write_delay = 4500;
max_write_delay = 4500;
read = "0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0",
"x x x x x x x x x x o o o o o o";
write = "1 0 1 0 1 1 0 0 1 1 1 x x x x x",
"x x x x x x x x 1 1 i i i i i i";
;
memory "calibration"
size = 1;
read = "0 0 1 1 1 0 0 0 0 0 0 x x x x x",
"0 0 0 0 0 0 0 0 o o o o o o o o";
;
memory "signature"
size = 3;
read = "0 0 1 1 0 0 0 0 0 0 0 x x x x x",
"x x x x x x a1 a0 o o o o o o o o";
;
;
Write the sketch
- Connect an AVR Writer (ISP) to MI100 PCB 6 pin ISP connector.
- (First time only) From Arduino IDE, write bootloader. It actually writes fuse bits. The bootloader is not written. emply_all.hex defined as a bootloader in boards.txt does nothing.
- From Arduino IDE, write the sketch.
Commands
Firmware gets simple commands from host PC through UART (e.g. through bluetooth SPP module). E.g. "F,500" move forwared 500ms. Error recovery is not implemented.
Format:
Command,Arguments,<LF>
LF is line feed, carriage return or both.
Command example:
H Return buttery power level. H,voltage H,2.82
P Return photo sensor level. (Require photo sensor option) P,raw_ADC_value P,320
L,duration(ms) Left pivot. L,500 Left pivot 500ms.
R,duration(ms) Right pivot. R,500 Right pivot 500ms.
F,duration(ms) Move forward. F,500 Move forward 500ms.
B,duration(ms) Move backward. B,500 Move backward 500ms.
D,red_duty(%),green_duty(%),blue_duty(%),duration(ms) Blink full color LED with RGB duty ratio.
T,tone(Hz),duration(ms) Beep PIEZO with tone Hz and duration. T,440,500 Beep 440Hz tone for 500ms.
Firmware revision indication
MI100 has a full color LED. During startup, MI100 indicate firmware revision by LED.
- Rev 2: First release: R-G-B
- Rev 3: Photo sensor support: R-G-B-R-G-B
- Rev 4: Fix blue LED never lit after 75min from startup: R-G-B-B-G-R
- Rev 6: Add motor speed control: G-R-R-G (0110 = 6)
License
LGPLv2.1 or later (same as a linked library license).