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<br />[[File:Neato-xvXV-11.jpg|alt=|thumb|Neato XV-11 Robotic Vacuum]]'''''The Neato XV-11([[wikipedia:Neato_Robotics|Wikipedia]]) is a robot which vacuum’s your house. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipedia:Lidar|Wikipedia]]). This content has been migrated can be removed from the old xv11hackingXV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS). The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to help. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for parts. You will find it is very well constructed by some people who definitely know about robotics.com website'''''
What is the Neato XV-11 you ask?? The Neato XV-11('''''This content has been migrated from [[wikipediahttps:Neato_Robotics|Wikipedia]]) is a robot which vacuum’s your house//web.archive. It is unlike any other however because it includes a low cost 360 degree laser distance scanner (LIDAR See [[wikipediaorg/web/20180721051927/http:Lidar|Wikipedia]]). This can be removed from the XV-11 and used in your own robotics projects or used within the XV-11 with the help of the Robot Operating System (ROS)//xv11hacking. The pages within this wiki document interfacing methods into the XV-11 and is open to anyone who wants to helpwikispaces. For $399 you can’t find a better robotics platform in my opinion, definitely worth the cost even if you do nothing more than strip it down for partscom/ xv11hacking. You will find it com] which is very well constructed by some people who definitely know about roboticsno longer available.'''''
# ls /dev/ttyU*
# roslaunch neato_node bringup.launch
# roslaunch 2dnav_neato move_base.launch# (open a new tab before running the next command)# rosrun rviz rviz
# rosrun teleop_twist_keyboard teleop_twist_keyboard.py
<nowiki> #</nowiki>testmode off
<nowiki> #</nowiki>testmode off
no edit summary
==Connecting to ROS==
''The following procedure will help you install the Robot Operating System on Ubuntu 10.10 for use with the XV-11.''
I have tested this running Ubuntu 10.10 as a VMware virtual machine as well as installed on a system as the booted OS. Ubuntu is a very easy to use Linux release you can download from [http://www.ubuntu.com/ here ] Now lets get started! Open a terminal by clicking on '''Applications -> Accessories -> Terminal''' Enter the following commands by copying and pasting them into the terminal window. Use '''CTRL-C''' to copy and then '''CTRL-SHIFT-V''' to paste them in the terminal window.<br /># sudo sh -c ‘echo “deb <nowiki>http://code.ros.org/packages/ros/ubuntu </nowiki> maverick main” > /etc/apt/sources.list.d/ros-latest.list’# wget <nowiki>http://code.ros.org/packages/ros.key </nowiki> -O - | sudo apt-key add -# sudo apt-get update# sudo apt-get install ros-cturtle-base
The last command will install approximately 5GB worth of software so grab some coffee, a Rockstar, or your stimulant of choice! Once it is done installing run the commands below to install some more ROS software in your home folder.
<br /># cd; mkdir ros; cd ros# svn co <nowiki>https://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/teleop_twist_keyboard</nowiki># svn co <nowiki>http://albany-ros-pkg.googlecode.com/svn/trunk/slam_coreslam/coreslam</nowiki># svn co <nowiki>http://albany-ros-pkg.googlecode.com/svn/trunk/neato_robot</nowiki># echo ‘. /opt/ros/cturtle/setup.sh’ >> ~/.bashrc# echo ‘export ROS_PACKAGE_PATH=~/ros:${ROS_PACKAGE_PATH}’ >> ~/.bashrc# source ~/.bashrc# sudo su# echo ‘. /opt/ros/cturtle/setup.sh’ >> ~/.bashrc# echo ‘export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}’ >> ~/.bashrc# exit# cd ~/ros/teleop_twist_keyboard; rosmake# cd ~/ros/coreslam; rosmake# cd ~/ros/neato_robot; rosmake
Now we will edit the /etc/modules file so the usbserial driver will be automatically loaded with the parameters needed. We also add the cdc_acm driver to the blacklist so it will not be used with the XV-11. On a Macbook Pro the system used this driver instead of usbserial.
<br /># sudo su# echo “usbserial vendor=0x2108 product=0x780B” >> /etc/modules# echo “blacklist cdc_acm” >> /etc/modprobe.d/blacklist.conf# modprobe usbserial vendor=0x2108 product=0x780B# rmmod cdc_acm# exit
Almost time to plug your XV-11 into the system!! For the sake of simplicity do not plug in any other USB to serial devices at this point. This will ensure your XV-11 appears as '''/dev/ttyUSB0''' and will simplify setup at this point.
Once you plug in the XV-11 you should see '''/dev/ttyUSB0''' appear. Now lets load the XV-11 drivers.
Entering the above command should initiate a connection to '''/dev/ttyUSB0''' and after a couple seconds you will hear the LIDAR start to spin on the XV-11. Don’t worry if you don’t hear it, press '''CTRL-C''' to exit the driver then enter the command again. I have found it does not seem to start properly upon first load. Now press '''CTRL-SHIFT-T''' while your terminal window is selected to open a new tab within that terminal window, just like a new web browser tab. We will open a few of these tabs to load the different ROS drivers/programs.
Just to verify, you should have three tabs open now with these three commands simultaneously running. SWEET HUH!! Now you have the GUI application running, just a couple more steps and its play time! On the top menu bar click '''Plugins -> Manage''' then click the box next to '''Loaded''' and click '''OK'''. There is a video [http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack here] with details on setting up RViz. You can use this file with RViz and it has all those parameters already setup. Right click on the file and save it. Within RViz just go to '''File -> Open Config''' and select the XV11.vcg file. Now open a new terminal which we will use for keyboard control to manually navigate the XV-11.
You will see which keys are used to navigate on the screen once the program is running. The default speed settings are too fast for the XV-11 so you need to reduce the speed before it will respond to any input. Repeatedly press the '''“x”''' key to reduce speed when traveling in a straight line to about 0.10 and then do the same with the “c” key to reduce rotational speed to about 0.15. Now you can use the keyboard keys to navigate.
Runtime V2.6.15295
OK
This is after the upgrade
<br />
Runtime V2.6.15295
OK
==Interfacing with LIDAR Sensor==
I created a board to interface the LIDAR sensor to a PC without the rest of the XV-11. The PCB consists of a PIC18F2221, and FTDI-232R, a 3.3V regulator, and a Fet for controlling the motor. The pic watches the data from the LIDAR and uses the speed information to control the PWM pin attached to the FET. In this way the correct speed can be maintained. The Firmware for the pic currently only supports the old LIDAR firmware ( that is what I have). Hopefully someone else can modify it to work with the other firmware as well. There are jumpers for configuring who talks to what between the PC, PIC, and LIDAR. There are also options for supplying your own 5V instead of getting it from USB and an option for using an XBEE for wireless communication. Schematics are posted below as well as the Eagle brd files. Source code for the PIC will be posted soon. I have spare boards for sale if anyone is interested. Ringo (dot) Davis (at) gmail (dot) com.
[[File:LIDAR mounted on PCB.jpg|none|thumb|533x533px|LIDAR mounter on interface board|alt=]][[File:LIDAR plugged in to Interface board.jpg|none|thumb|533x533px|LIDAR plugged in to Interface board|alt=]]
<br />
TestEncoder
Commands are case-insensitive, and can be entered incompletly incompletely : getversion, getvers, getv, GeTvErSiOn will all work alike. Be aware that one at least of these commands can brick your LDS... Here are the details of what is currently known about these commands: (To be completed!)
GetVersion
Draws a squirrel in a heart, in ASCII art...
Example:
[[File:Wanderer Screen Shot.png|none|thumb|400x400pxalt=]]
<br />
**You can get free samples of these parts from [https://tycoelectronics.com/ TE’s website]
2D CAD files of the XV-11’s LIDAR unit, in mm. Thanks goes to '''''chenglung''''' from the trossen robotics forums[https://www.trossenrobotics.com/ Trossen Robotics] Forums.
3D CAD model of the LIDAR unit. Note that I used the 2d cad files mentioned above along with my own measurements, so be warned that the following is not completely accurate. Also, I’m no CAD professional, so you won’t find much detail in the model - just enough to account for any significant design properties which may be useful to know when building the module into your own applicatio
[[:File:XV-11 LIDAR Mechanical Files.zip|XV-11 LIDAR Mechanical Files]]XV-11 LIDAR Mechanical Files contains the following
*2D CAD Files
**XV-11_LDS CAD.zip
If anyone needs the file in some other format, just send me a request and I’ll try to help you out: rus.tech.studio ‘@’ gmail.com
<br />
==LIDAR Sensor==
The LIDAR sensor is what started this entire project. Find all the information you need below.
The angle of the data is not aligned with the natural axis of the device. It seems that the first sample of the first packet is in fact looking at a -10° angle, not 0°. Needs confirmation.
===Data format for firmware V2.4===
(recent production units)
A full revolution will yield 90 packets, containing 4 consecutive readings each.
The length of a packet is 22 bytes.
This amounts to a total of 360 readings (1 per degree) on 1980 bytes.
Each packet is organized as follows:
<br />
start byte index speed Data 0 Data 1 Data 2 Data 3 checksum
where:
*start byte is always 0xFA
*index is the index byte in the 90 packets, going from 0xA0 (packet 0, readings 0 to 3) to 0xF9 (packet 89, readings 356 to 359).
*speed is a two-byte information, little-endian. It represents the speed, in 64th of RPM (aka value in RPM represented in fixed point, with 6 bits used for the decimal part).
*Data 0 to Data 3 are the 4 readings. Each one is 4 bytes long, and organized as follows :
byte 0 : Distance 7:0
byte 1 : “invalid data” flag : “strength warning” flag
byte 2 : Signal Strength 7:0
byte 3 : Signal Strength 15:8
As [https://sites.google.com/site/chenglung/home/xv-11-open-lidar-project-matlab-script chenglung] points out, the distance information is in mm, and coded on 14 bits. This puts the tests made by Sparkfun in a room of around 3.3m x 3.9m (11ft x 13 ft ?), which seems reasonable.
The minimum distance is around 15cm, and the maximum distance is around 6m.
When bit 7 of byte 1 is set, it indicates that the distance could not be calculated. When this bit is set, it seems that byte 0 contains an error code. Examples of error code are 0x02, 0x03, 0x21, 0x25, 0x35 or 0x50...
When it’s `21`, then the whole block is `21 80 XX XX`, but for all the other values it’s the data block is `YY 80 00 00`...
The bit 6 of byte 1 is a warning when the reported strength is greatly inferior to what is expected at this distance. This may happen when the material has a low reflectance (black material...), or when the dot does not have the expected size or shape (porous material, transparent fabric, grid, edge of an object...), or maybe when there are parasitic reflections (glass... ).
Byte 2 and 3 are the LSB and MSB of the strength indication. This value can get very high when facing a retroreflector.
*checksum is a two-byte checksum of the packet.
The algorithm is as follows, provided that `data` is the list of the 20 first bytes, in the same order they arrived in.
<br />
def checksum(data):
“”“Compute and return the checksum as an int.”“”
# group the data by word, little-endian
data_list = []
for t in range(10):
data_list.append( data2*t + (data2*t+1<<8) )
# compute the checksum on 32 bits
chk32 = 0
for d in data_list:
chk32 = (chk32 << 1) + d
# return a value wrapped around on 15bits, and truncated to still fit into 15 bits
checksum = (chk32 & 0x7FFF) + ( chk32 >> 15 ) # wrap around to fit into 15 bits
checksum = checksum & 0x7FFF # truncate to 15 bits
return int( checksum )
===Data format for firmware 2.1===
(Sparkfun scans, pre-production units)
The periodicity of the data is 1446 bytes.
It is organized as follow :
5A A5 00 C0 XX XX data
where `XX XX` is an information about the current rotation speed of the module, in clock ticks (little endian). <nowiki>http://forums.trossenrobotics.com/showthread.php?t=4470&page=5</nowiki> posted interesting data about this.
`` is composed of 360 group of 4 bytes, organized like this :
byte 0 : Distance 7:0
byte 1 : “invalid data” flag : ”quality warning” flag : distance 13:8
byte 2 : Quality 7:0
byte 3 : Quality 15:8
As [https://sites.google.com/site/chenglung/home/xv-11-open-lidar-project-matlab-script chenglung] points out, the distance information is in mm, and coded on 13 or 14 bits. This would put the tests made by Sparkfun in a room of around 3.3m x 3.9m (11ft x 13 ft ?), which seems reasonable to me. 13 bits should be enough if the sensor is destined to work up to 6m. This needs some tests...
The bit 7 of byte 1 seems to indicate that the distance could not be calculated.
It’s interesting to see that when this bit is set, the second byte is always `80`, and the values of the first byte seem to be only `02`, `03`, `21`, `25`, `35` or `50`...
When it’s `21`, then the whole block is `21 80 XX XX`, but for all the other values it’s the data block is `YY 80 00 00`
maybe it’s a code to say what type of error ? (`35` is preponderant, `21` seems to be when the beam is interrupted by the supports of the cover) .
Another thing to have a look to is the temporal repartition of the data... the first sample after the sync seems to always be `21 80 XX XX`, and when this pattern appears again, it’s immediately after an other value, without the 0.2ms interval we can see most of the time between two blocks of 4...
The bit 6 of byte 1 is a warning when the reported strength is greatly inferior to what is expected at this distance. This may happen when the material has a low reflectance (black material...), or when the dot does not have the expected size or shape (porous material, transparent fabric, grid, edge of an object...), or maybe when there are parasitic reflections (glass... ).
Byte 2 and 3 are the LSB and MSB of the strength indication. This value can get very high when facing a retroreflector.
<br />
==Motors==
Data on the drive motors, brush motor, and vacuum fan.
===SetMotor Command===
Motor speeds can be set using the SetMotor commands. This command is handled asynchronously, so you can query other commands while the robot is moving. The simplest way to set both the left and right motor speed is to use:
SetMotor left_dist right_dist speed
Where left_dist and right_dist are a distance to travel in millimeters, and speed is the speed to use for movement in millimeters per second. Speed must be positive, and at least one of left_dist or right_dist must be non-zero. Drive motor speeds are -300 mm/s to 300 mm/s. These max speeds also induce a rotational max speed of approximately +/- 2.25 radians/sec given the separation of the wheels.
It appears that when different distances are put in, the speed will be applied to the wheel moving the farther distance, and the other wheel will be scaled such that both wheels take the same amount of time to travel their complete distance. (Can someone confirm this on their bot? - Fergy).
Some examples:
*SetMotor 100 100 100 - will move the robot forward 100mm, in approximately one second
*SetMotor 100 -100 100 - will turn the robot to the right in place, for 1 second.
*SetMotor 100 200 100 - the robot will move forward and to the left, for 2 seconds.
The base width separation of the wheel is approximately 248 millimeters. Therefore, the circumference when turning in place is approximately 780 millimeters. Thus, we can turn the robot using:
*SetMotor 195 -195 100 - the robot will turn in place, 90 degrees to the right.
<br />
==Neato XV series WiFi remote control==
Neato is great in cleaning by it self, it also has good “spot clean” algorithm! But, what if you want to clean just a certain spot? In other words - use it like a regular vacuum?
That was the basic idea which led to realization of the full wireless remote control.
As you may know, you can manually control Neato right out of the box by connecting it to any computer via usb and, through any terminal program, send commands to robot (for some reason article describing command list on official Neato site is unreachable at this moment, but you can get it by typing ‘help’). The way you can control Neato movements is described here: [[#XV-11 API Commands|XV-11 API Commands]]
This is really great, but how can one use it for robot’s intended purpose if he or she is limited by the length of the wire? Of course you can take a laptop! But for me it was not the answer. Luckily, my friend recently has brought a compact (very compact) WiFi router (Commonly available from eBay as “2g/3g/4g wifi router”, also known as HAME MPR-A5 and MIFI-F5. MPR-A1 and clones are likely to work as well if you manage to fit them in. Some additional material is available on http://my-embedded.blogspot.com/2013/12/mini-4g-router-rt5350f.html) and suggested that we should try to embed it into my Neato.
So, it was obvious that all we needed was to find +5V power supply and connect usb from router to neato’s usb. All that sounds simple, so we did it. (i should say that my Neato has rev.64 main board)
[[File:Neato WiFi Controller attached.jpg|none|thumb|''VCC - Red wire, D- - White wire, D+ - Green wire. (regular USB pinout)'']]
Very soon we realized that, first of all - there is no powerful enough +5V source on the main board, and the second one - Neato’s software blocks it from normal functioning if it senses power supply on its usb
The answer to the first problem was as simple as buying 5V 500mA DC-DC converter ([http://www.digikey.com/product-search/en?FV=fff40042%2Cfff800df%2C1140050%2C114016f%2C11401ab%2C11401c9%2C15c0002%2C8f40010%2C8f40011%2C8f40012%2C8f40013%2C8f40014%2C8f40016%2C8f40017%2C8f40018%2C8f40019%2C8f4001a%2C8f4001b%2C8f4001c%2C8f4001d%2C8f40021%2C8f40022%2C8f40023%2C8f40024%2C8f40026%2C8f40027%2C8f40028%2C8f40029%2C8f4002a%2C8f4002b%2C8f4002e%2C8f40030%2C8f40031%2C8f40032%2C8f40034%2C8f40035%2C8f40037%2C8f40039%2C8f4003b%2C8f4003c%2C8f4003d%2C8f4003e%2C8f4003f%2C8f40041%2C8f40042%2C8f40043%2C8f40044%2C8f40047%2C8f40048%2C8f40049%2C8f4004b%2C8f4004c%2C8f4004d%2C8f4004e%2C8f4004f%2C8f40050%2C8f40051%2C8f40052%2C8f40053%2C8f40054%2C8f40056%2C8f40058%2C8f40059%2C8f4005a%2C8f4005b%2C8f4005e%2C8f40060%2C8f40061%2C8f40062%2C8f40063%2C8f40064%2C8f40067%2C8f40069%2C8f4006a%2C8f4006b%2C8f4006c%2C8f4006d%2C8f4006e%2C8f40083%2C8f40085%2C8f40086%2C8f40087%2C8f40088%2C8f40089%2C8f4008f%2C8f40090%2C8f40091%2C8f40093%2C8f40095%2C8f40096%2C8f40097%2C8f40098%2C8f4009b%2C8f4009e%2C8f400a1%2C8f400a2%2C8f400a3%2C8f400a4%2C8f400a5%2C8f400a7%2C8f400a8%2C1180005c%2C17d4003e&mnonly=0&newproducts=0&ColumnSort=1000011&page=1&stock=0&pbfree=0&rohs=0&quantity=&ptm=0&fid=0&pageSize=25 DC-DC on digikey.com]) A local shop had Peak PSR-7805LF available for a reasonable price so I settled on that one.
[[File:Neato WiFi PCB Power.jpg|none|thumb|Neato WiFi PCB Power]]
Answer to the second problem was a bit tricky! On the router board there is a source of power which can be turned on/off by changing state of its GPIO8 (echo 1 >/sys/class/gpio/gpio8/value), so my friend suggested that we will be able to control usb power supply by one P-N-P transistor witch base must be connected to that gpio. All that going to be great if only router could gave us +5V, but its voltage is only +3.3V. In the end the answer was found: we’d connected +5V from DC-DC to the Neato’s usb through one p-n-p and one n-p-n transistor (with a pair of resistors) controlled by the router’s +3.3V as shown below.
[[File:Neato WiFi adaptor schematic.jpg|none|thumb|Neato WiFi adaptor schematic]]
[[File:Neato Wifi Adaptor solder points.jpg|none|thumb|To get rid of micro USB plug we soldered power supply wires from DC-DC right on router’s board]]
[[File:Mini 4g router pcb bottom.jpg|none|thumb|To get rid of micro USB plug we soldered power supply wires from DC-DC right on router’s board]]
[[File:Neato Wifi Dremel Modification.jpg|none|thumb|To fit router with all the stuff inside neato’s body i’ve made a small ‘modification’ using my dremel]]
[[File:Neato Wifi Adaptor install.jpg|none|thumb]]
So now i have a fully functional Neato with a full control from any place in the world ;) I can remotely start cleaning in full cycle, or change its schedule, or use it full manual, or, even, just play like with RC car!
<br />
==Open source Linux for Neato==
Newer models (XV-14/XV-15/XV-21/XV-25 ???) with board revision 64 are running on Linux Kernel 2.6.33.7
The open source parts of the code are provided on the CD labeled as “Neato Vacuum User Guide” that comes with the robot. The source is located under the directory “LinuxSrc”
[[File:Neato XV-11 Photo of CD.jpg|thumb|Neato XV-11 Photo of CD]]
[[File:Neato XV-11 Folders of CD.jpg|thumb|Neato XV-11 Folders of CD]]
The source contains few Neato specific bits related to the operation of the robot, however some interesting details are disclosed:
*The unpopulated footprint (J2) on the PCB Rev 64 is indeed a SD Card footprint, and the source reveals that the kernel has SD Card support.
*The presence USB Gadget drivers of suggests that the Neato has USB OTG support and “Ethernet over USB” capabilities (unconfirmed)
*Mystery .raw file \LinuxSrc\rootfs\etc\test_map.raw (400KB). Could this be sample LIDAR data?
*Contents of the file \LinuxSrc\rootfs\etc\Issue: “Welcome hackers!”. :
*[[:File:Neato XV-11 Readme.txt|Readme.txt]] of the LinuxSrc folder
<br />
===Bootloader Access===
Bootloader access can be achived by isseuing the following command to the robot over USB Serial connection.
testmode on
setsystemmode PowerCycleCDC
(*CDC = Communications Device Class ????)
The Neato then reappears on the serial bus (on Windows you might have to unplug and reconnect the USB cable for this device to appear) as an another device “XV-11 BOOTLOADER”
Accessing this device offers a limited console over USB serial with no local echo.
Contents of the folder LinuxSrc\boot indicate that [http://www.denx.de/wiki/U-Boot U-boot] is, or was used as, bootloader on the Neato at some point “''Hopefully u-boot doesn’t make it to production, but if it does..'', LinuxSrc\boot\arch\arm\cpu\lpc313, line 453.
The Neato bootloader console does not support any of the standard U-boot commands.
help
Cmd not recognized.
getversion
NeatoBootVer,2.0,0
===Supported commands at bootloader console===
{| class="wikitable"
|Command
|Usage
|Description
|-
|GetVersion
|getversion
|Prints version information
|-
|Boot
|boot
|boot the robot OS
|-
|Upload
|?
|upload firmware to the robot?
|-
|
|
|download firmware from the robot?
|}
'''Looking for commands at the bootloader console'''
The bootloader console matches input stream “byte by byte” to find the first match. For example input “bootxyz123hskdfhskdjfhksjd”, triggers the “boot” command, ignoring any trailing charachters. This implies that there are no variations on commands like “bootusb” (unconfirmed).
===Flashing the Neato===
'''''Warning messing around with the bootloader could potentially brick your robot with no known method of recovery'''''
Using the bootloader console it might be possible to flash the Neato using a custom firmware (unconfirmed).
upload code
File size invalid
===Neato open source code===
The files are clearly identified as open source! (106MB)
http://www.axifile.com/en/F2D0DB4C4E
(note: if this link doesn’t work anymore, then there was no use for it in the past 30 days... let me (KPPlayer)
know and I’ll upload again.)
===Other resources===
http://www.nxp.com/products/microcontrollers/arm9/LPC3143FET180.html Vendor info and datasheet for the NXP LPC3134
http://dfu-util.gnumonks.org/ USB DFU (Device Firmware Upgrade) Utilities. DFU possible?
http://www.lpclinux.com/LPC313x/LPC313xMain How to get Linux running on a NXP LPC313/4/5
<br />
==PCB Versions==
===Early PCB Version===
[[File:Neato XV-11 Early PCB Version.jpg|thumb|'''Neato XV-11 Early PCB Version''']]
{| class="wikitable"
! colspan="4" |Neato XV-11 BOM and Parts identification
|-
|Ref. Desg.
|Manufacturer
|Part Number
|Description
|-
|
|
|
|
|-
|U1
|Allegro
|A3950SEUTR-T
|DMOS Full-Bridge Motor Driver
|-
|U5
|Allegro
|A3950SEUTR-T
|DMOS Full-Bridge Motor Driver
|-
|U16
|ST
|LIS302DL
|3-axis - ± 2g/± 8g smart digital output “piccolo” accelerometer
|-
|U17
|Fairchild
|MM74HC4051MTC
|8-Channel Analog Multiplexer
|-
|U18
|Fairchild
|MM74HC4051MTC
|8-Channel Analog Multiplexer
|-
|U26
|Allegro
|A4490EESTR-T
|Triple Output Step-Down Switching Regulator
|-
|U29
|ATMEL
|AT91SAM9XE128-QU
|AT91 ARM Thumb Microcontrollers PQFP208
|-
|U32
|Winbond
|W988D6FB
|SDRAM (typeno varies) - 256Mb (32MByte) Mobile LPSDR
|-
|U34
|ZETEX
|ZXMHC3A01T8
|COMPLEMENTARY 30V ENHANCEMENT MODE MOSFET H-BRIDGE
|-
|U36
|National Semi
|NC7SZ14
|Tiny UHS Inverter with Schmitt Trigger Input
|-
|U39
|
|
|
|-
|U44
|National Semi
|NC7SZ14
|Tiny UHS Inverter with Schmitt Trigger Input
|-
|U45
|National Semi
|NC7SZ14
|Tiny UHS Inverter with Schmitt Trigger Input
|-
|U35
|ST
|NAND128W3A2BN6
|16MByte small-page NAND flash
(on bottom side of PCB)
|}
<br />
{| class="wikitable"
!Ref. Desg.
!Description
|-
|J1
|Charging Jack
|-
|J2
|UI Board (LCD/Buttons)
|-
|J3
|Direct connection to the ERASE line of the AT91 processor!! Shorting this jumper and rebooting the
XV-11 will result in a complete loss of programming. No known recovery method at this time.
|-
|SW1
|Switch input used to hard reboot the processor. Probably used in conjunction with J3 for development
purposes.
|-
|P1
|Battery pack thermistor input (Thermistor measures ~10k at 70 degrees Fahrenheit on battery)
For battery locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Wire Color\Pins
Orange,Blue\1,2 = Left Battery
Yellow,Green\3,4 = Right Battery
|-
|P2
|Main power input
|-
|P3
|Header for Bluetooth module (BlueSMiRF)
|-
|P4
|Unknown. Leads to SPI of the AT91 processor: Probably MMC/SD connection.
|-
|P5
|Bumper switch inputs x4
For button locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Wire Color\Pins
Blue\1,2 = Left Side
Yellow\3,4 Top Left
Purple\5,6 Top Right
Orange\7,8 Right Side
|-
|P6
|Header used to communicate with the AT91 via serial connection.
P6:1 Unused (square pad), P6:2 AT91_RXD, P6:3 AT91_TXD, P6:4 Ground
|-
|P8
|LIDAR Motor connector
|-
|P9
|Brush motor Input/Output
Pins
1,2 = Brush motor power
3,4,5 = Input from encoder
|-
|P10
|JTAG. Bottom row: VDDIO (square pin), TRST, TDI, TMS, TCK. Top row: GND, GND, SRST, TDO, RTCK. The JTAG-port unfortunately is software-disabled for debugging the ARM processor core.
|-
|P11
|Viewing XV-11 from above with the laser at the bottom and bumpers up top:
1,2,3 = Top Right Side Wall Distance Sensor (Sharp 0A51SK F 0X)
|-
|P12
|LIDAR power/serial connection
|-
|P13
|Magnetic strip sensors and floor distance sensors (detecting edge before falling down stairs)
For sensor locations, viewing XV-11 from above with the laser at the bottom and bumpers up top:
Pins
1,2,3 = Top Left Distance Sensor (Sharp 0A51SK F 0X)
4,5,6 = Top Left Hall Effect Sensor (Allegro 21E)
7,8,9 = Top Right Distance Sensor (Sharp 0A51SK F 0X)
10,11,12 = Top Right Hall Effect Sensor (Allegro 21E)
|-
|P14
|Speaker
|-
|P16
|Dustbin installed/removed input (Soft rubber button under dustbin)
|-
|P18
|Charging input for wall docking charger
|-
|P19
|Vacuum motor
|-
|P20
|USB Connection to ATMEL processor
|-
|P22
|Right Wheel
Pins
1,2 = motor power
3,4,5 = Input from encoder
|-
|P23
|Left Wheel
Pins
1,2 = motor power
3,4,5 = Input from encoder
|-
|P24
|Temperature input from brush motor, taped to motor (Measures ~10k at 70 degrees Fahrenheit)
|}
===PCB Rev. 64===
[[File:Neato XV-11 PCB Rev64 Top.jpg|thumb|'''Neato XV-11 PCB Rev64 Top''']]
[[File:Neato XV-11 PCB Rev64 Bottom.jpg|thumb|'''Neato XV-11 PCB Rev64 Bottom''']]
{| class="wikitable"
|+
!Ref Desg.
!Manufacturer
!Part Number
!Description
!Info
|-
|U1
|TI
|
|5V Regulator
|Triggered when Room Scanner is on
|-
|U2
|
|
|
|
|-
|U3
|STM
|LIS3DH
|Three axis accelerometer
|
|-
|U4
|TI
|
|3.3V Regulator
|U4 and U23 both Infineon
[https://www.infineon.com/dgdl/Infineon-IFX25001-DS-v01_02-en.pdf Spec Sheet]
|-
|U5
|
|
|
|
|-
|U6
|
|
|
|
|-
|U7
|
|
|
|
|-
|U8
|STM
|STM32F100R4T6B
ARM
|I/O-controller (motors, switches, etc) with RTC and low frequency quartz (responsible for time keeping during sleep/shut off)
|
|-
|U9
|
|
|
|
|-
|U10
|
|
|
|
|-
|U11
|MICRON
|MT48LC16M16A2-7E
|256Mb (32MB) SDRAM
|
|-
|U12
|
|
|
|
|-
|U13
|
|
|
|
|-
|U14
|NXP
|LPC3143FET180
ARM9
|(main-)controller with external memory
|http://www.nxp.com/products/microcontrollers/arm9/LPC3143FET180.html
|-
|U15
|
|
|
|
|-
|U16
|
|
|
|
|-
|U17
|
|
|
|
|-
|U18
|STM
|NAND128W3A2BN6F
|128Mb (16MB) NAND
|
|-
|U19
|
|
|
|
|-
|U20
|
|
|
|
|-
|U21
|
|
|
|
|-
|U22
|
|
|
|
|-
|U23
|TI
|
|5V Regulator
|http://www.ti.com/product/LM78M
|}
{| class="wikitable"
!Ref. Desg.
!Description
|-
|J1
|UI Board (LCD/Buttons) connector
|-
|J2
|SD card header (unpopulated)
|-
|P2
|UART header??? (unconfirmed)
|-
|P3
|UART header??? (unconfirmed)
|-
|P9
|Motor from Side brush (VR100)?
|-
|P13
|Main power input
|-
|
|
|-
|P15
|Right Wheel
|-
|P16
|Left Wheel
|}
<br />
==Viewing Maps from the XV-11’s Point of View==
[[File:Neato XV-11 Map bathroom1.gif|thumb]]
[[File:Neato XV-11 Map bathroom2.gif|thumb]]
[[File:Neato XV-11 capture.gif|thumb]]
Warning: This feature seems to be missing in the current (v2.6) firmware.)
Even though we’ve got the ability to make our own maps using the XV-11’s sensor and ROS, it’s nice sometimes to be able to see them from the XV-11’s point of view.
Due to the efforts of some of the guys at TrossenRobotics ([http://forums.trossenrobotics.com/showthread.php?5123-Some-XV-11-notes/ thread link]), the SetStreamFormat packet datastream has been partially decoded--at least to the point of being able to grab maps from a running XV-11
The source code is available on githhub here: [https://github.com/rbtying/xv11-stream-parser XV-11 Stream Parser]
After compilation, the code can be used to translate dumps of the XV-11 packet stream into nice 256x256 animated gifs, so you can see into the mind of the XV-11.
You can use the following command to test it out:
bin/parser -f example/Packet\ Mode\ Bathroom1\ 09-03-2011.txt
View the help (run with -h or no flags) for details on the available options.
It can also show you the laser scans of the robot (though the position estimation of the robot is based on some hackish intersection code)
[[File:Neato XV-11 Map bathroom1-laser.gif|none|thumb]]
[[File:Neato XV-11 Map capture-laser.gif|none|thumb]]
==XV-11 API Commands==
===Commands available through the USB port on the XV-11===
Neato Robotics currently has an list of commands accessible to people who want to tinker with their robots.
See their official site for information: http://www.neatorobotics.com/programmers-manual
===Getting a list of Commands===
Your first point of call is the Neato Robotics Programmers Manual listed above. Also if you have an established link to your Neato you can type:-
help
which will list all available commands.
You can also get additional information about commands by typing the command function name after the word help, eg:-
help getmotors
===Enabling TestMode===
A lot of the functions available to programmers can only be used if “TestMode” has been enabled on the Neato. Most functions displayed in the Help are listed as “TestMode Only” which will give you an idea as to what can be only be used when TestMode is enabled.
If you attempt to use a command before you have enabled TestMode, Neato will politely state that “''TestMode must be on to use this command.''”
To Enable TestMode
testmode on
To Disable TestMode (do remember to disable TestMode to return your Neato back to normal after you have finished tinkering)
testmode off
With TestMode enabled, you Neato will behave a little differently than normal.
*All buttons on the robot will NOT respond to input as it normally does
*You may not be able to re-establish connection to your robot if you unplugged and reconnected in a short period of time. If you cant re-establish connection, wait a few mins before attempting again.
The following commands and examples listed below will assume you have TestMode enabled, (unless specified differently)
===Issuing Commands to the Motors===
When you are first experimenting with command, I recommend you turn Neato up-side-down so the wheels can free spin. Otherwise you may get instances where your robot drives away faster than you expected, crashing into things and generally making a mess of your room as it lacks logic to stop.
The basic command to move is
setmotor LeftWheelDistance RightWheelDistance Speed
As I tested in firmware 2.6, Neato’s maximum speed is 300. If you exceed this value, Neato will report back something like “''Invalid Speed Specified(500). Must be between 0 and 300''”
Some basic movement examples
To drive forward 10cm:-
setmotor 100 100 100
To spin on the spot (rotate clockwise):-
setmotor 900 -900 100
To do a left-handed U-Turn (rotate anti-clockwise):-
setmotor 0 1000 100
As I have been experimenting, my Neato seems to steer to the left a little as it drives along in a ‘straight’ line. I’ve also had differences in distance travelled depending on my speed setting. I have yet to sit down and measure the accuracy of these movement commands.
===Problems You May Encounter===
A little issue I found in my tinkering exploits, Neato would suddenly power off when issuing commands. This seems to be because I was issuing a large amount of commands within a short period of time. To give you an idea, I was issuing a set of three SetLED commands once every 20ms. Within about 2seconds, Neato would power off. To fix the issue, unplug your USB, power up Neato and reconnect the USB.
==LCD PCB Information==
[[File:Neato XV-11 LCD panel front labels.png|thumb|Neato XV-11 LCD panel front ]]
[[File:Neato XV-11 LCD panel back labels.png|thumb|Neato XV-11 LCD panel back ]]
'''IMPORTANT LCD INFORMATION!!!''' As you can see in the first image, the LCD is labeled “GVLCM128128G 13572A” on its backside. Googling this brings up the following LCD producer: [http://www.golden-vision.cn/ Golden Vision]. However, this exact LCD is not listed on their site, but [http://www.golden-vision.cn/productxs.asp?id=24 this similar one] is. All the measurable specs are similar (dimensions are approximately the same - the XV-11’s LCD measures approximately 61.6 mm x 55.1 mm x 4.36 mm, which is a bit thicker, probably due to the backlight; 128 x 128 resolution). The only differences I could find are the small white line above the ribbon cable at the bottom of the “similar” LCD isn’t present on the XV-11 LCD, and the ribbon cable of the “similar” LCD is 24 pins, not 25 (so the “similar” '''LCD CANNOT BE USED AS A REPLACEMENT - IT WOULDN’T BE PIN COMPATIBLE!'''). Anyway, the company only lists a few 128x128 LCD’s in production (none of which match the XV-11’s), so this narrows down the list of possible LCD controllers used in the XV-11’s LCD to just the [http://www.tstonramp.com/~pddwebacc/ics_app%20notes/sitronix/ST7541_12.pdf ST7541] (others are possible but you could say these are more likely since we know this is the only chip the company uses in their 128x128 greyscale LCD’s). We can’t be sure until we test out driving this LCD standalone (on my TODO list for the next 2 weeks - I’m waiting on a FFC Ribbon Cable Breakout to come in from New Haven Display ([http://www.newhavendisplay.com/index.php?main_page=product_info&cPath=91_123&products_id=1100 look here if interested]), but from what the datasheet says and the fact that only 2 of the LCD’s ribbon cable pins are appear to have data running thru them, it seems like the LCD is controlled by i2c from the main board (see below for pinouts).
The white FFC ribbon cable leading connecting the LCD board to the mainboard has a 1mm pitch.
The buttons on the LCD board have a pair of legs connected to ground, so it’s safe to deduce that the main board has these buttons’ signals pulled up (these pullups are not found on the LCD board) and expects to read a LOW signal when these buttons are pressed down. See table below for which button is which.
K1, K2, and K3 labeled in the second image are 3 of the 4 pins attaching the LCD backlight to the PCB. These pins go thru resistors to Q1, which appears to be a transistor driven by pin 10 of the white FFC ribbon cable (going to the mainboard). When a voltage is applied to Q1, it connects K(1-3) to GND, turning the backlight ON. K4, the last of the backlight’s pins, connects to pin 14 of the white FFC ribbon cable (see table below for appropriate voltages).
All 4 LED’s (2 per Double-LED) run fine at about 20mA @ 2V, with ~ 68 Ohm resistors each, so a 3.3V signal line that can source about 40mA should suffice for each color (each LED color pair has its own pin - see table below)
EagleCAD LCD PCB Files:
I’ve reverse engineered the LCD peripheral board into EagleCAD, just in case it comes in handy
'''IMPORTANT DISCLAIMER''': I did my best to determine all the dimensions, but there are likely some minor inaccuracies. Looking at the XV-11’s case, the LCD PCB fits snugly in the outline and all the buttons and LED’s have to line up nicely with the plastic to work properly. If for whatever reason you want to use these files to produce a custom LCD peripheral board, just be warned it may not work (but this is probably your best chance at a template for one).
*[[:File:Neato_XV-11_LCD_Board.zip|Neato_XV-11_LCD_Board.zip]]
*Contains:
**LCD_board_opensource.brd
**LCD_board_opensource.sch
16 Pin Main PCB FFC Ribbon Cable (white) Pinout (still working on it...):
{| class="wikitable"
|Pin #
|Signal Type
|Signal
|Notes
|-
|1 (*)
|OUTPUT
|SW1 - “SOFT”
|Pulled up on mainboard (internally in ARM?); LOW means button is pressed
|-
|2
|OUTPUT
|SW3 - “BACK”
|Pulled up on mainboard (internally in ARM?); LOW means button is pressed
|-
|3
|POWER/INPUT
|Green LED’s
|Run HIGH ~(3.3V) to turn on, make sure the pin can source ~40mA
|-
|4
|OUTPUT
|SW4 - “UP”
|Pulled up on mainboard (internally in ARM?); LOW means button is pressed
|-
|5
|POWER/INPUT
|Amber LED’s
|Run HIGH ~(3.3V) to turn on, make sure the pin can source ~40mA
|-
|6
|OUTPUT
|SW2 - “DOWN”
|Pulled up on mainboard (internally in ARM?); LOW means button is pressed
|-
|7
|OUTPUT
|SW5 - “START”
|Pulled up on mainboard (internally in ARM?); LOW means button is pressed
|-
|8
|
|LCD Pin 21
|
|-
|9
|
|LCD Pin 20
|
|-
|10
|INPUT
|Backlight Switch
|Run HIGH (~3.3v) to turn LCD backlight on; signal goes to transistor Q1
|-
|11
|
|LCD Pin 22
|
|-
|12
|POWER
|GND
|
|-
|13
|
|LCD Pin 10
|
|-
|14
|POWER
|5V
|Backlight Power; goes to K4; Measured at ~4.8V... K4 measured at ~3V
|-
|15
|
|LCD Pin 11
|
|-
|16
|POWER
|3.3V
|LCD Power
|}
