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Microcontrollers, Sensors, ZigBee ?
Freescale Tower System
Tower System mechatronics board and robot
Drivers Available in the Toolkit
?  General purpose 16-bit timers (GPT): 
input capture, output compare
and PWM
?  PWM 16-bit controller
Less than 1μS resolution for
RC servo control
?  I 2 C master mode
Xtrinsic 3-axis accelerometer
Xtrinsic touch sensing
Xtrinsic 3-axis magnetometer
?  QSPI master mode
?  UART buffered and un-buffered
?  Analog-to-digital converter
Overview
The Tower System mechatronics board combines 32-bit computing, sensors, actuator control
and wireless into a single stand-alone board with an on-board battery supply. The Tower System
mechatronics board has a 32-bit ColdFire microcontroller with 64K of RAM, 512K of flash and supports
the full range of Freescale Xtrinsic sensors via plug-in daughter boards. The board can directly control
up to eight actuators (PWM-controlled RC servos) via the eight industry standard 3-pin connectors.
In addition to stand-alone operation, the Tower System mechatronics board can be plugged into
the Tower System to become a controller module, capable of interfacing with all peripheral modules
available in the Tower System family to expand its capabilities.
Freescale’s robot is a sensor development kit in the form of a four degrees of freedom (DOF)
bipedal walking robot, controlled by the Tower System mechatronics board. Included are simple
development tools that will help you learn to write software for sensors, while making a robot
walk and respond to touch, motion, vibration, tilt and other external stimuli.
Tower System Mechatronics Board Features
?  Interrupt controller
?  DMA controller
?  FlexCan controller
?  Periodic interrupt timers
?  DMA timers
MCF52259 32-bit ColdFire processor
with 64K RAM, 512K flash
USB OTG
connected to
MCF52259
Optional
plug-in
for sensor
daughter
cards
Power/OSJTAG
Mini-B USB
connector
4x battery holder on
back of board
Control up to eight RC servos
(compatible with VEX 3-wire servos)
Extra output signals and
touch sensor inputs
10 pin on-board
RS232 connector
Dual 5V regulators
to power external
hardware
Freescale 3-axis
accelerometer on
the daughter card
MPR121 capacitive
touch sensor on
main board under
daughter card
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