HMR-KK05からの変更点
・Main PICをPIC24EP512GU810(RAM52k)に変更
・Motor PICおよびGPS PICをPIC24F16KA101(RAM1.5k)に変更．
GPSへの接続は２つともPICのハードウエアのUARTを使用．
この2つのサブコンピュータは，MainPICより電源をON-OFFする．
・加速度センサーKXM52-1050を廃止
・オンボードセンサーとして加速度センサ，磁気センサ，ジャイロセンサをI2C接続でオンボード搭載
加速度＆磁気センサは LSM303DLHを2個搭載
ジャイロセンサはL3G4200Dを1個搭載
・RFmoduleへのコネクタを変更．4ピンとし，電源もここからとる．
・PICの未使用ピンは，ADを持つピンの場合，ADにセットしインプットに設定する．ADを持たないピンはデジタルアウトプットに設定する．
Port setting PortA PortB PortC PortD PortE PortF PortG
ADconverter setteing
Function setting
Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.
!CAUTION! GPIO pins of B11 and B15 must be set as INPUT and are unusable.
| Pin | Port | ADC | Special | etc | Power | Use | Setting | Function |
| 1 | A5 | nMCLR | Vpp | Vpp | ○ | I | nMCLR Vpp | |
| 2 | A0 | AN00 | PGC2 | Vref+/CN2 | ○ | O | PowerSW of GPS#1 | |
| 3 | A1 | AN01 | PGD2 | Vref-/CN3 | AD(I) | |||
| 4 | B0 | AN02 | U2Tx | PGD1/C1IND/C2INB/CN4 | ○ | O | U2Tx to GPS#1 | |
| 5 | B1 | AN03 | U2Rx | PGC1/C1INC/C2INA/U2BCLK/CN5 | ○ | I | U2Rx from GPS#1 | |
| 6 | B2 | U1Rx | U1BCLK/CN6 | ○ | I | U1Rx from GPS#0 | ||
| 7 | A2 | AN04 | OSCI/CLKI/C1INB/C2IND/CN30 | ○ | O | PowerSW of GPS#0 | ||
| 8 | A3 | AN05 | OSCO/CLKO/CINA/C2INC/CN29 | AD(I) | ||||
| 9 | B4 | PGD3 | SOSCI/nU2RTS/CN1 | ○ | O | PGD | ||
| 10 | A4 | PGC3 | SOSCO/T1CK/nU2CTS/CN0 | ○ | O | PGC | ||
| 11 | B7 | U1Tx | INT0/CN23 | ○ | O | U1Tx to GPS#0 | ||
| 12 | B8 | SCL1 | nU1CTS/CN22 | O | ||||
| 13 | B9 | SDA1 | nU1RTS/CN21 | O | ||||
| 14 | A6 | OC1/IC1/C2OUT/INT2/CTED1/CN8 | O | |||||
| 15 | B12 | AN12 | SCK1 | HLVDIN/CTED21/CN14 | ○ | I | SCK of SPI | |
| 16 | B13 | AN11 | SDO1 | CTPLS/CN13 | ○ | O | SDO of SPI | |
| 17 | B14 | AN10 | SDI1 | Cvref/RTCC/OCFA/C1OUT/INT1/CN12 | ○ | I | SDI of SPI | |
| 18 | B15 | nSS1 | T2CK/T3CK/CN11 | ○ | I | nSS of SPI | ||
| 19 | Vss | ○ | ||||||
| 20 | Vdd | ○ |
Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.
Non-connected pins with ADC are set as ADC and digital input. Non-connected pins without ADC are set as digital output.
CAUTION!
Outputs for the wheel motors are negative logic.
Outputs for the servo motors are positive logic
Mobile Sensor for Volcanic Observation "HOMURA"