HUSKIE BOARD 2.0, R1 JANUARY 18, 2017 HUSKIE 2.0 roboRIO MXP Expansion Board RoHS Overview The Huskie Board, designed by Team 3061, is an FRC qualified expansion board for the NI roboRIO robotics controller. In addition to breaking out all available signals on the MXP expansion port, this board uses a Parallax Propeller 8-core chip to enable tasks such as advanced data logging, on-field driver control and status, and NeoPixel control. Additional GPIO and analog inputs are added with open source code to allow further customization. 11 12 13 4 17 1 10 14 15 16 18 5 8 7 2 3 9 6 Figure 1, Huskie Board Features
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HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
HUSKIE 2.0 roboRIO MXP Expansion Board RoHS
Overview The Huskie Board, designed by Team 3061, is an FRC qualified expansion board for the NI roboRIO robotics controller. In addition to breaking out all available signals on the MXP expansion port, this board uses a Parallax Propeller 8-core chip to enable tasks such as advanced data logging, on-field driver control and status, and NeoPixel control. Additional GPIO and analog inputs are added with open source code to allow further customization.
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Figure 1, Huskie Board Features
HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
Glossary HB Huskie Board RR roboRio MXP myRio Expansion Port on the RR SSA Switch Selected Autonomous MXP 5V Direct 5V from MXP connector USB 5V Direct 5V from USB connector HB 5V Multiplexed 5V used internally on HB DGND Digital Ground on HB and connected to DGND pins on MXP AGND Analog Ground pin on MXP S The signal pin indication on pin 3 of all 3-pin headers.
Features and Specifications See Figure 1 for the following descriptions.
1. USB Mini Port and Status LEDs Power for bench testing. Flash code updates using Propeller Tool. USB status LEDS
LED Function Indicated Color D5 USB Tx Blue D6 USB Rx Red D7 HB 3.3V Green
2. HB 5V, Power Mux Auto switching between MXP 5V and USB 5V per Table 1 to drive local HB 5V. Delivers power to 3.3V voltage regulator and LCD port. 1.25A nominal current limit.
MXP 5V HB 5V Comment > 4.3V MXP 5V Actual threshold: 4.21V to 4.39V <= 4.3V Max(MXP 5V, USB 5V) Auto selected by mux chip
o LVCMOS levels compatible with RR’s LVTTL logic levels. o Vih < 3.6V. Not 5V input logic compatible.
8 cores with logic for: o RR UART communication o USB and EEPROM interface o SD Card logging. o ADC control o Switches, LED, LCD and GPIO control o NeoPixel contol
5. HB ADC Inputs 7 additional external analog inputs on ADC inputs 1 through 7. ADC 0 = (HB 5V / 2), an internal diagnostic power monitor. Conversion range: 0 <= Vin <= HB 3.3V 12 bit conversion: 1 LSB = (HB 3.3V / 4096) 5.9KHz single-pole anti-aliasing filter 15KHz continuous simultaneous internal sample rate on all channels. 8-sample, fixed averaging for 1.9KHz internal sample updates. Programmable 2n
averaging in future releases for faster/slower internal sample rates. Header orientation: Pin 3 (S) is in-board. Use silkscreen labels for orientation.
HB Header Pin Pin 1 Ground
Pin 2 Power
Pin 3 (S) Board Label
DGND HB 3.3V
ADC 1 ADC 2 ADC 3 ADC 4 ADC 5 ADC 6 ADC 7
Figure 2, HB ADC Input Headers
HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
6. MXP Analog Input Breakout There are no other connections to these MXP signals. Header orientation: Pin 3 (S) is nearest J1. Use silkscreen labels for orientation. AGND is routed as an island to control return currents and minimize analog noise.
It is necessarily connected to DGND to give a power supply return path.
HB Header Pin MXP Connection
Pin 1 Ground
Pin 2 Power
Pin 3 (S) Board Label
AGND MXP 5V
RR AI 0 AI0 RR AI 1 AI1 RR AI 2 AI2 RR AI 3 AI3
Table 2, MXP Analog Input Breakout Headers
7. MXP Analog Output Breakout There are no other connections to these RR MXP signals. Header orientation: Pin 3 (S) is nearest J1. Use silkscreen labels for orientation. Power identical to MXP Analog Output Breakout, above.
HB Header Pin MXP Connection
Pin 1 Ground
Pin 2 Power
Pin 3 (S) Board Label
AGND MXP 5V RR AO 0 AO0 RR AO 1 AO1
Table 3, MXP Analog Output Breakout Headers
8. MXP PWM Breakout There are no other connections to these RR MXP signals. Identical orientation to the MXP Analog Input and Output Breakouts.
9. myRio Expansion Port (MXP), keyed, J1 Connects power and signals to dedicated MXP Breakout headers (AI, AO, PWM). Connects signals to Propeller Shared GPIO, below (SPI, I2C, UART, DIO).
10. LCD Header Powered by power mux, allowing LCD operation in bench test mode. When no LCD is present, usable as GPIO with 5V power. Header orientation: Pin 3 (S) is nearest J1. Use silkscreen labels for orientation.
Note: LCD screens are optional and not included with the HB.
11. Propeller Dedicated GPIO There are no other connections to these 4 dedicated Propeller signals. Header orientation: Pin 3 (S) is in-board. Use silkscreen labels near SD Card for
orientation.
HB Header Pin Propeller Channel
Pin 1 Ground
Pin 2 Power
Pin 3 (S) Board Label
DGND HB 3.3V
GPIO 0 IO14 GPIO 1 IO15 GPIO 2 IO16 GPIO 3 IO17
Table 5, Propeller Dedicated GPIO Headers
12. Propeller / RR Shared GPIO, I2C These 2 signals can be used as I2C expansion from the RR. If used in this mode, the
Propeller does not use these pins and must not drive them as GPIO. Alternatively, either the RR or Propeller may take ownership of these pins as GPIO
(Propeller) or DIO (RR). This includes the option of dedicated signaling between the two controllers.
13. Propeller / RR Shared GPIO, UART These are dedicated signals for communicating between the RR and Propeller chip,
supporting all HB functions. Header Connections are available for debug only. TX and RX are with respect to RR communication directions. i.e. TX is driven by the
14. Propeller / RR Shared GPIO, SPI & SSA Primary use of these 4 signals is for SSA, but they can be used alternatively as SPI
expansion from the RR. If used for SPI, then SSA is not available. If neither SPI nor SSA are used, then, either the RR or Propeller may take ownership
of these pins individually as GPIO (Propeller) or DIO (RR). This includes the option of dedicated signaling between the two controllers.
To enable non-SSA signal use, the corresponding DIP switch must be in the OFF position.
15. SD Card The SD card is used for data logging but must be pre-formatted as FAT32 Power off the HB before removing or installing an SD card to avoid short circuits
from the metal retainer. The SD card must be latched shut when power is on, even if no SD card is installed.
Note: an SD card is not included with the HB.
HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
16. Status LEDs There are no other connections to these 4 dedicated Propeller signals. The primary use is to display the current SSA setting on LEDs 1 through 3 and errors
on LED4.
Propeller Channel LED Color IO24 1 Green IO25 2 Green IO26 3 Green IO27 4 Red
Table 9, Status LED Channel Assignments
17. Dip Switches
Please see section 14, above, for connections. The primary use case is SSA. LabVIEW code can query the switch settings to
determine autonomous mode, selectable on the field, to optimize alliance robot placement or other factors.
18. Reset Switch Resets the Propeller and causes a reboot from local EEPROM. In normal operation, the status LEDs will scroll on twice.
HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
Mechanical
HUSKIE BOARD 2.0, R1 JANUARY 18, 2017
Additional Technical Information http://team3061.org/mxp/
Ordering Information Part number: FRC3061-MXP2 R1
Pricing and Ordering: Playing With Fusion,
http://www.playingwithfusion.com/
Sponsors Team 3061 thanks our sponsors for their generous contributions to the Huskie Board project.
