Hardware reference
The NAO6's devices that nao-rs drives, which bus each sits on, and where to read more.
A NAO6 has a computer in its head (an Intel Atom module) and a chest board, an ARM9 microcontroller connected to the head by USB. Everything in the body hangs off the chest board; the head's own devices sit on an I2C bus behind a USB-I2C bridge.
| Device | Bus | nao-rs crate | Page |
|---|---|---|---|
Chest board (USB ffff:0006) | USB | usbfs, chestlink, chestboard | Chest board link |
| 13 joint motor boards, 2 foot boards | Two RS-485 buses behind the chest board | body, motorboard, sensors | Chest board link, Body sensors |
| Inertial unit, battery, sonar, chest button | Behind the chest board | body, sensors | Body sensors |
| Chest and foot LEDs | Behind the chest board | body | LEDs |
| Eye, ear and skull LEDs (6 LED drivers) | Head I2C | head | Head devices, LEDs |
| Head touch pads, power monitor, face temperature | Head I2C | head | Head devices |
| CPU temperature, head fan | Board controller of the CPU module | fan | Head fan |
| Cameras, microphones, speakers, Wi-Fi | Linux drivers | not part of nao-rs |
nao-rs leaves the cameras, audio and network to the Linux kernel's own drivers, and the firmware of the chest board and the motor boards as it is.
Identity
The runtime reads the robot's identity at start-up, as LoLA reports it:
| Value | Source |
|---|---|
Body id, for example P0000073AxxSxxCxxxxx | Chest board preferences |
| Body version | Chest board preferences |
| Head id, head version | /media/internal/DeviceHeadInternalGeode.xml on the head |
Boards
| Bus | Boards (address) |
|---|---|
| Upper body | HeadBoard (11), LeftShoulderBoard (12), RightShoulderBoard (13), RightArmBoard (31), RightHandBoard (32), LeftArmBoard (41), LeftHandBoard (42) |
| Legs | LeftHipBoard (1), LeftThighBoard (2), LeftShinBoard (3), LeftFootBoard (4), RightHipBoard (21), RightThighBoard (22), RightShinBoard (23), RightFootBoard (24) |
The foot boards (4 and 24) carry the foot pressure sensors, the bumpers and the foot LEDs; the other 13 drive the joints.
Boot time
How long a NAO6 takes to boot on HULKs-OS and on nao-rs, what nao-rs changed, where the time still goes, and the targets for a dedicated image.
Chest board link
The USB device, its start-up, the three-step exchange every cycle, the frame format, the message types, the preferences, the motor board handshake and the chest board tools.