Microcontroller


Motorola MC9S12DG256C CPV – datasheet (pdf 2.7M)
HC12 16 bit microcontroller, equivalent to MC9S19DP256
112 pin LQFP package, 20x20x1.4mm, 0.65mm pin spacing
Clocked with a 6 MHz Xtal
256K flash ROM
12K RAM
4K EEPROM
2x UART (pin89 RXD0, pin90 TXD0, pin91 RXD1, pin92 TXD1)
2x SPI
8x timer
2x 16 channel 10bit ADC
8x PWM
89x I/O channels
2x CAN 2.0A/B
1x I2C

The Roomba uses a tick timer with 4096 ticks per minute, this corresponds to the 67 times per second that the robot evaluates its state mentioned on the box.

Microcontroller Functional Pinout

Pin	Name	I/O	Cat.	Description
3	PWM1	O	nav	Motor R Control1. H=on
4	PWM0	O	nav	Motor R Control2. H=on
9	IOC0	I	nav	Motor R Encoder
10	IOC1	I	nav	Motor L Encoder
12	IOC3	I	vac	Side Brush Overcurrent = H
15	IOC4	I	nav	Motor R Overcurrent Sensor. H=overcurrent
16	IOC5	I	nav	Motor L Overcurrent Sensor. H=overcurrent
17	IOC6	I	vac	Main Brush Overcurrent = H
23	PB0	I	vac	Side Brush Motor Control. H=on
25	PB1	I	vac	Vac Motor Control. H=on
26	PB2	I	vac	Main Brush Motor Control. H=on
27	PB3	I	pow	Aux Power Control. H=on
28	PB4	O???	pow	??? Charger Enable
29	PB5	O	pow	Charger Control. H=enable charging
30	PB6	O	nav	Floor and Side Sensors Control. H=on
32	KWH7	I	ui	Input Pin on Serial Connector
33	KWH6	I	nav	Wheel-Up Switches. H=ok
34	KWH5	I	ui	Spot Button. L=pressed
35	KWH4	I	ui	Unconnected Button. L=pressed
49	KWH3	I	ui	Clean Button. L=pressed
50	KWH2	I	pow	Any Charger Connected (AC or Floor). H=yes
51	KWH1	I	ui	IR-Receiver
52	KWH0	I	ui	Power Button. L=pressed
57	PA0	I	vac	Dust Sensor1
58	PA1	I	vac	Dust Sensor2
59	PA2	I	nav	Bump Sensor L
60	PA3	I	nav	Bump Sensor R
62	PA5	I	pow	AC Charger Connected. H=yes
63	PA6	O	sys	Reset Watchdog Timer (1.6 sec timeout)
64	PA7	O	pow	??? Charger Safety Board. H=charger ok
67	AN00	I	pow	Bat Voltage. V(mV) = ADC * 28.1
68	AN08	I	vac	Vac Motor Current. I(mA) = ADC * 5
69	AN01	I	pow	Bat Temperature. T(degC) = 25 + (512 - ADC) / 9
70	AN09	O	pow	??? Bat Temperature Sense Enable. H=Enable
71	AN02	I	pow	Bat Current. I(mA) = (ADC - 512) * 6.523. Positive = charging, negative=discharging
73	AN03	I	nav	Floor Sensor L Back
75	AN04	I	nav	Floor Sensor L Front 
77	AN05	I	nav	Floor Sensor R Back 
79	AN06	I	nav	Floor Sensor R Front 
81	AN07	I	nav	Side Wall Sensor
87	PM7	O	ui	Power Led Green. H=on
88	PM6	O	ui	Power Led Red. H=on
91	RXD1	I	ui	Serial Port
92	TXD1	O	ui	Serial Port
100	PM5	O	ui	Status Led Green. H=on
101	PM4	O	ui	Status Led Red. H=on
102	PM3	O	ui	Dust-Detect Led Blue. H=on
103	PM2	O	ui	Spot Led Green. H=on
104	PM1	O	ui	Unconnected Led. H=on
105	PM0	O	ui	Clean Led Green. H=on
111	PWM5	O	nav	Motor L Control1. H=on
112	PWM4	O	nav	Motor L Control2. H=on

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