Figure: Vector head-board top
These drive the motors, talk with the time of flight sensor, pull the microphones sounds from the head board, drive its LEDs, etc.
Figure: Vector body-board top
Figure: Vector body-board bottom
Body Board Firmware¶
Each revision of the body board has a bootloader specific to that revision; the boot loaders holds a revision code at 0x08000010. (In some cases, this revision code may be the only change.) This revision code (or number) is used by the application firmware (held in syscon.dfu) to know which board it is running on, and make small changes to accomodate the differences.
|Body-Board Type||Revision Code||Description and Notes|
|DVT4||4||This board has significant changes from the DVT3. DVT4 also corrected a regulator problem (although that may be on the headboard.)|
|Production||6||The LED clock and data lines have moved, adding a line to manage power for the head or backpack.|
|Whiskey||7||Version 1.4 of the syscon does not work correctly with this board; this suggests that the Whiskey body board was manufactured after the 1.4 firmware was made.|