LibreRVAC: Samsung Navibot SR8730, SR8750, SR8751

This page needs a lot of tidying up.

Source

Firmware: https://github.com/LibreRVAC/librervac-sr8730 – same firmware for all listed models

Difference between models

Samsung Navibot SR8730 – red.
Samsung Navibot SR8750 – black, comes with an infrared remote control. This remote control also works with SR8730 and SR8751.
Samsung Navibot SR8751 – black, the difference between SR8750 and SR8751 is unknown.

Description

User manual – official user manual

Device info (high level)

Feature	Status	Comment
Reflashable	yes	With a way to revert back to original firmware
Original firmware is readable	yes
No soldering required	yes
Linux Board	TODO	Although it has a linux board, it was decided not to use it. Using a separate board is much more convenient. If you think that using existing linux board might be useful, then your contributions are welcome.
Docking Station	yes
Remote control	depends on the model	Possible through web interface with LibreRVAC
Wheels	standard	Regular spring-loaded wheels
Sensors	infrared
Cliff Sensors	how many?
Bumper	2 switches	It is possible to read them separately
User Input	3 buttons
Display	leds	PCB has support for 7-segment display, so maybe with a little bit of soldering and 3D printing you can upgrade
Speaker	buzzer
Wi-Fi	no	Should be installed for LibreRVAC
Bluetooth	no
Camera	pointing up	Pointing up. TODO info about the camera

Device info (low level)

Microcontroller	pic32mx360f256l	PIC32 is fine as long as you tolerate problems with their toolchain
Accelgyro	TODO
Main Brush Spinning Direction	yes
Side Brushes Spinning Direction	no
Separate Control of Side Brushes	no
Current Sense on Wheels	yes
Current Sense on Main Brush	encoder	No, but has an encoder instead. Weird.
Real-time clock	no

Supported features (high level)

Feature	Legacy	LibreRVAC	Comment
Web Interface	no	yes
Scheduled Start	no	yes, but no user interface yet
Wall following	no*	planned	*in extremely small areas (3x1 meters) the robot may eventually start cleaning around the corners. It has only been observed once.
Curved path	only when docking	planned
Room mapping	probably	planned	In legacy firmware the robot is moving in parallel lines, but collected info suggests that it is unable to build a map

Supported features (low level)

Feature	Legacy	LibreRVAC	Comment
Charging	yes	yes
Wheels	yes	yes
Main Brush	yes	yes
Side Brushes	yes	yes
Bumper	yes	yes
Beeper	yes	yes
LEDs	yes	yes
User Buttons	yes	yes
Wheel Buttons	yes	yes
Sensors	yes	planned
Cliff Sensors	yes	planned
Accelgyro	yes	planned
Camera	?	no	No info about on-board GNU/Linux board

Components

pic32mx360f256l [1]
pic16f716 (charger)
ILN2003AD
IKG2783D [2]
A3950ST [3]
DRV8840 [4]
14051BG [5]
CruizCore R1050K [6]
CLABSYS SV210 (Telechips TCC8322)

Pinout

More recent information may be found in pinout.h file.

Pin	Index	Type	Function	pullup/pulldown	active	Comment
1	RG15	in	bumper switch right	+3.3V	low
2	-	VDD	Power			3.3V
3	RE5	out	UNKNOWN LED 1-2, LED 4, BATTERY LED 2, 7-Segment display top-left segment, colon-top segment		high	ILN2003AD (pin 6)
4	RE6	out	LED 5, BATTERY LED 3, 7-Segment display center segment, colon-bottom segment		high	ILN2003AD (pin 7)
5	RE7	out	motor left	?		A3950ST (pin 2 – MODE)
6	RC1	out	motor left	?		A3950ST (pin 3 – PHASE) – low level means forward
7	RC2	out	main brush	?		DRV8840 (pin 20 – PHASE)
8	RC3	out	main brush	?		DRV8840 (pin 19 – DECAY)
9	RC4	out	ic16 – C	?		14051BG ic16 (pin 9 – C)
10	RG6	out	motor right	?		A3950ST (pin 2 – MODE)
11	RG7	out	motor right	?		A3950ST (pin 3 – PHASE)
12	RG8	in	MID_RECEIVER_R	+3.3V	?	not connected!
13	-	RESET	reset		low	RC-circuit
14	RG9	in	bumper switch left	+3.3V	low
15	-	VSS
16	-	VDD
17	RA0	JTAG	mode select	?	?	???? also R1050K (pin 9 – reserved, pin 18 – nRST
18	RE8	in	rear right IR receiver	+3.3V	low	VIRTUAL_REAL_R (yes, REAL, hah)
19	RE9	in	button interrupt	+3.3V	low	one of three buttons
20	RB5	in	main brush encoder	+3.3V	low
21	RB4	adc	battery thermistor (10kΩ ?)
22	RB3	?	comparator in+ battery voltage before/after? resistor			(912 +) (01b -) – 1/10.1 multiplier ????
23	RB2	?	comparator in- battery voltage after/before? resistor	?	?	???
24	RB1	?	adapter detect?	?	?	?
25	RB0	adc	buttons			HOME(1.5kΩ – 0.43V)/START(10kΩ – 1.65V)/MODE(4.7kΩ – 1.06V)
26	RB6	DBG	programming/debugging clock			jtag pin 1 (actually ICSP)
27	RB7	DBG	programming/debugging data I/O			jtag pin 2 (actually ICSP)
28	RA9	?	linux board pin 10	?	?	?
29	RA10	in	MID_RECEIVER_L	+3.3V	?	not connected!
30	-	AVDD				nothing fancy, just +3.3V
31	-	AVSS				nothing fancy, just GND
32	RB8	in	bottom right sensor	GND	high ??
33	RB9	?	linux board pin 11	?	?	?
34	RB10	in	bottom center sensor	GND	high ??
35	RB11	in	bottom left sensor	GND	high ??
36	-	VSS
37	-	VDD
38	RA1	out	ic16 – A	?		14051BG ic16 (pin 11 – A)
39	RF13	out	ic16 – B	?		14051BG ic16 (pin 10 – B)
40	RF12	NC	not connected	GND
41	RB12	in	ic1 – X	?		14051BG ic1 (pin 3 – X)
42	RB13	adc	right wheel motor current sense	?	?	?
43	RB14	adc	left wheel motor current sense	?	?	?
44	RB15	out	ic1, ic2 – C	?		14051BG ic1, ic2 (pin 9 – C)
45	-	VSS
46	-	VDD
47	RD14	out	ic1, ic2 – B	?		14051BG ic1, ic2 (pin 10 – B)
48	RD15	out	ic1, ic2 – A	?		14051BG ic1, ic2 (pin 11 – A)
49	RF14	uart	RX ↔ accelgyro TX, also unknown port (pin 3)	GND
50	RF15	uart	TX ↔ accelgyro RX, also unknown port (pin 2)	GND
51	RF3	uart	TX ↔ linux board pin 9	GND
52	RF2	uart	RX ↔ linux board pin 8	GND
53	RF8	spi	data output	GND		not connected – WOOOHOOO! :(
54	-	out	turn on power for accelgyro and linux board	?	low	could have been spi data input, but wasted for some shit
55	-	in	rear left IR receiver	+3.3V	low	VIRTUAL_REAR_L
56	RG3	NC	not connected	GND		free I2C SDA
57	RG2	NC	not connected	GND		free I2C SCL
58	RA2	I2C	EEPROM SCL	+3.3V	?	also some micro IC 21 (pin 6) also R213
59	RA3	I2C	EEPROM SDA	?	?	?
60	RA4	out	side brushes	?	?	?
61	RA5	NC	not connected	GND
62	-	VDD
63	RC12	OSC
64	RC15	OSC
65	-	VSS
66	RA14	in	docking receiver left	+3.3V	low
67	RA15	in	docking receiver right	+3.3V	low
68	RD8	in	left wheel motor encoder 1	?	?	input capture
69	RD9	in	left wheel motor encoder 2	?	?	input capture
70	RD10	in	right wheel motor encoder 2	?	?	input capture
71	RD11	in	right wheel motor encoder 1	?	?	input capture
72	RD0	out	motor left	?	?	A3950ST (pin 6 – enable)
73	RC13	?	unknown port pin 4	?	?	?
74	RC14	NC	not connected	GND
75	-	VSS
76	RD1	out	main brush enable	?	high	DRV8840 (pin 21 – ENABLE)
77	RD2	out	enable charging ?	?	?	?
78	RD3	out	motor left	?	?	A3950ST (pin 6 – enable)
79	RD12	out	enable bottom left/center/right sensors, ic2 – X	?	?	14051BG ic2 (pin 3 – X)
80	RD13	out	beeper	?	?	no pwm? wtf?
81	RD4	out	ic16 – X	?	?	14051BG ic16 (pin 3 – X)
82	RD5	out	vacuum enable	?	?
83	RD6	in	Wheel lift left	+3.3V	low	low – robot is lifted
84	RD7	in	Wheel lift right	+3.3V	low	low – robot is lifted
85	-	Vcap/Vcore	?	?	?	?
86	-	ENVREG	?	?	?	?
87	RF0	in	dust box switch	+3.3V	low	low – dust box is inserted
88	RF1	out	7-Segment display colon		high	IK62783 (pin 8)
89	RG1	out	BATTERY LEDS		high	IK62783 (pin 7)
90	RG0	out	TWO UNKNOWN LEDS		high	IK62783 (pin 6), not connected
91	RA6	out	5 LEDS		high	IK62783 (pin 5)
92	RA7	out	Number 1		high	IK62783 (pin 4)
93	RE0	out	UNKNOWN LED 2-1, 7-Segment display top segment		high	ILN2003AD (pin 1)
94	RE1	out	UNKNOWN LED 2-2, 7-Segment display top-right segment		high	ILN2003AD (pin 2)
95	RG14	out	Number 2		high	IK62783 (pin 3)
96	RG12	out	Number 4		high	IK62783 (pin 1)
97	RG13	out	Number 3		high	IK62783 (pin 2)
98	RE2	out	LED 1, 7-Segment display bottom-right segment		high	ILN2003AD (pin 3)
99	RE3	out	LED 2, 7-Segment display bottom segment		high	ILN2003AD (pin 4)
100	RE4	out	UNKNOWN LED 1-1, LED 3, BATTERY LED 1, 7-Segment display bottom-left segment		high	ILN2003AD (pin 5)

Multiplexers

White – turn on sensor, Yellow – analog signal

14051BG ic1

Pin	Type	Function	pullup/pulldown	active	Comment
X0	in	right right IR sensor	?	?	OBS_1
X1	in	middle right IR sensor	?	?	OBS_2
X2	in	front right IR sensor	?	?	OBS_3
X3	in	front IR sensor	?	?	OBS_4
X4	in	front left IR sensor	?	?	OBS_5
X5	in	middle left IR sensor	?	?	OBS_6
X6	in	left left IR sensor	?	?	OBS_7
X7	in	GND			not connected

14051BG ic2

Pin	Type	Function	pullup/pulldown	active	Comment
X0	out	right right IR sensor	?	?	OBS_1
X1	out	middle right IR sensor	?	?	OBS_2
X2	out	front right IR sensor	?	?	OBS_3
X3	out	front IR sensor	?	?	OBS_4
X4	out	front left IR sensor	?	?	OBS_5
X5	out	middle left IR sensor	?	?	OBS_6
X6	out	left left IR sensor	?	?	OBS_7
X7	out	GND			not connected

14051BG ic16

Why did they even bother to solder this?

Pin	Type	Function	pullup/pulldown	active	Comment
X0	out	?	?	?	S/M transmitter (through various resistors), not connected
X1	out	?	?	?	S/M transmitter (through various resistors), not connected
X2	out	?	?	?	S/M transmitter (through various resistors), not connected
X3	out	?	?	?	S/M transmitter (through various resistors), not connected
X4	GND				not connected
X5	GND				not connected
X6	GND				not connected
X7	out	speaker

Extra info

Multiplexer frequency is about 28.25 Hz.

Weird IR pwm – 900 Hz (55% duty cycle? Probably just 50 Hz)

Linux ↔ PIC baud rate is 550400 (TODO or is it?)

MID_RECEIVER_R (SIGNAL, +5V, GND)

Current consumption

mode	consumption
idle	200mA
working	1.15A
working (without brushes)	0.75A
sleep	80mA which is 25 hours with full battery under perfect conditions

ICSP

ICSP pins – CLOCK, DAT, MCLR, VCC, GND (same on charger)

Charging

Charger requires 350-1500 Ohm resistance between contacts.

LED 1 – left (when looking from robot)
LED 2 – center
LED 3 - right (when looking from robot)

P6	LED 1 dim
P7	LED 3 dim
P9	all LEDS bright
P10	LED 1 and LED 3 dim
P13	LED 2 dim

Interesting facts

One of the ports is called “VIRTUAL_REAL_R” (silkscreen text). Same port on the opposite side is called “VIRTUAL_REAR_L”. It looks like a typo (both are rear).
Wheels are spinning into different directions. Possibly a routing error. It is still very easy to fix that in software.

Comments:

Analyzer dumps

File:samsung_charger.csv
File:samsung_charger.png

-- Anonymous 2015-08-30 17:29 UTC

More Analyzer Dumps

File:samsung_charger.csv
File:samsung_charger.png
File:samsung-charger2.csv
File:samsung-charger2.png

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Charger dump with IR Receiver on channel 3

File:last_test.csv

-- Alexandr Boldin 2015-08-30 21:09 UTC

File:samsung_battery_log_edited.ods

-- Alexandr Boldin 2015-09-12 16:02 UTC

6E326

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Funny:

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Interrupt priorities (higher number means more priority):

Core Timer; Sensors; ADC (only for battery); Buzzer; Motors
Charging
UART Change notice
UART Timer

Timers:

Sensors
Beeper
Motors / Charging
UART
Charging

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