Laboratoire de systèmes robotiques LSRO
MINIATURE Mobile robots GROUP MOBOTS

mx31moboard

An ARM11 embedded robotics controller board

Valentin Longchamp, Daniel Burnier

picture of current development kit
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Introduction

The mx31moboard is a modern embedded controller board that is developped in our laboratory. It is aimed to be the main controller for the robots that need a high processing power but need to be small and power efficient. The core of the board is Freesale's i.MX31. This System-On-Chip embeds an ARM1136 core and many useful peripherals.

Design

The mx31moboard design was split into two physical boards.

mx31moboard
It is a small but complex 10-layer PCB where the core components of the system are placed (i.MX31, 128 MB of DDR Ram, 32 MB of NOR Flash and the MC13783 companion chip). It cannot work on its own and is meant to be connected to a main board.
mx31devboard
It is a 4-layer PCB the mx31moboard is aimed to be connected to. It contains all the external physical connectors for the system (such as USB, serial port, SD, power). This board is meant to be redesigned to suit all the hardware requirements for the robots in terms of both volume and features. The first one being desinged at the moment is the mx31marxbot for the marXbot.

Specifications

The mx31moboard is designed with the following hardware and support the currents connections and peripherals:

Software

The mx31MoBoard runs the Linux kernel and a distribution was customised for it using OpenEmbedded, also providing toolchains to develop software for the mx31MoBoard. The mx31MoBoard is capable of running the Aseba framework to control the low-level hardware of the robots.

Contact

Daniel Burnier

Laboratoire de Systèmes Robotiques
EPFL-STI-LSRO
Station 9
CH-1015 Lausanne
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Tél: +41 (0) 21 693 78 26
Fax: +41 (0) 21 693 78 07