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Appendix A: Microcontroller Ports and Connections
Table 17. Common serial cable connections to Pioneer 2
Platform & Connector Pin 3 (Tx) Pin 5 (Rx) Pin 9 (Gnd)
Sun Sparcstation DB-25 3 2 7
SGI Irix mini-DIN 8 5 3 4
PC COMn: DB-9 2 3 5
PC COMn: DB-25 3 2 7
Macintosh mini-DIN 8 3 5 4
P2OS operates at the following configuration: 9,600, 19,200 or 38,400 bits per second
data rate; eight data bits; one stop bit; no parity or hardware handshaking (DTR).
Internal Serial Connectors
Two 10-pin serial port connectors on the P2OS microcontroller support independent RS-
232 serial communications. The ports also contain switched (RADIO on the Console) 5
and 12 VDC power @ 1.5A for accessory connections, such as a radio modem, radio
Ethernet, PTZ robotic camera, or the TCM2 electronic compass.
The Host serial connector (JP8) is the port used by the microcontroller for client-server
communications. It shares its transmit (TxD1) and receive (RxD1) lines with the external
serial port on the Console. The connector also has three data lines (P3_12, _14, and _15)
that are used by the V-2XG compass.
Table 18. P2OS Internal Serial Port Connections ("HOST" JP8)
Pin # Connection
Pin # Connection
1
Gnd
2
P3_12
3
TxD1
4
12 VDC (switched)
5
RxD1
6
Gnd
7
P3_15
8
P3_14
9
Gnd
10
5 VDC (switched)
The AUX RS232-compatible serial port (connector JP7) on the Pioneer 2/PeopleBot
microcontroller operates independently from the host serial port and is for accessory
attachments, such as the PTZ Robotic Camera. Note the additional power connections.
Table 19. Auxiliary Internal Serial Port Connections ("AUX" JP7)
Pin # Connection
Pin # Connection
1
Gnd
2
12 VDC (switched)
3
TxD2
4
12 VDC (switched)
5
RxD2
6
Gnd
7
No connection
8
5 VDC (switched)
9
Gnd
10
5 VDC (switched)
User I/O Expansion Port
A 20-pin IDC socket on the P2OS microcontroller provides the following digital, analog,
and power ports for user connections:
! 8 general-purpose digital input and output ports (ID/OD0-7)
! 5 analog-to-digital input ports (AD1-5)
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