Selfmade/Repair microcontroller ATTiny13, completely replacing the native made iRobot. See the pictures:
iRobot compact base scheme:
Connection "repair" controller to the scheme of the Base:
Assembled for testing - up:
Assembled for testing - bottom:
Assembled for testing - complete:
Video of testing - https://yadi.sk/i/bNG0Dkj2mUckC
Here the firmware and project files - https://yadi.sk/d/J6nxn-Y-mUhf6
Fuses setting:
The principle of operation of the iRobot charging base (see the original scheme):
1. The key Q5 is closed, the LEDs send IR commands, check the voltage level at the ADC-input ADP1. If the contacts of the base are free from the robot and other UFOs, then they will be about 3V through D11-R40, and at the input ADP1 will be about 2.8V - go to step 1.
2. If a robot arrived at the base contacts (equivalent to ~3.3 k), the level of the ADP1 changes to 0.65-1.7V - turn off the LEDs and turn on the Q5 key. As a result, the power supply unit voltage is applied to the base contacts, and through Q1-R37, the input ADP1 is connected to ground..
3. Five times per second (every 200 ms), we check whether the robot is still at the base or has left - turn off the key Q5 and check the voltage at the ADP1 input. If the voltage is about 0.65-1.7V, go to step 2. If the voltage is greater than 1.7V, go to step 1.
That's the whole "protocol"!
