Deebot 900 Hardware/Firmware

[Jonathan Woodall]

William - let me know if there is a more appropriate place to post this.

If it's ok, I'm tracking some hardware/firmware info for the Deebot 900. This is the most active "users group" there is for these robots, so I think this could potentially go somewhere. 

I finally got around to start mapping the hardware & functions, with the hopes of learning more about how our vacuums work, and maybe writing custom firmware if it would be helpful... and I can figure out a way to map via LDS. 

I can make a disassembly video if anyone would like to take theirs apart. The only tricky part is unsnapping the rear - just work your way around the plastic and it pops off. 

Here is what I remember (I lost some work...), and I'll update soon:

• All of the chips are covered with black epoxy covering the text.
• With good lighting and a microscope (and maybe being colorblind helps), as it turns out the epoxy is ever so slightly raised at the lettering on each chip, so... good job Ecovacs :)
• Firmware
  
• I just received a new 8ch logic analyzer. I plan to start capturing some IO soon.
• Hardware
• Processing is controlled by a GD32F103xxxx ARM Cortex M3 MCU - I forgot to jot down the exact model, but I'll update that later
• Here is a datasheet for a similar mcu - https://datasheet.octopart.com/GD32F103RCT6-GigaDevice-datasheet-103065885.pdf
• MCU is similar to Arduino DUE Atmel chip, but is manufactured by GigaDevice. IO is different, but capability is similar.f
• 2x 12V wheel motors
• 4 wire
• micro limit switch drop sensor
• gear driven
• travel distance measured by optical encoder
• 2x 12V side brush motors
• model xxxx
• LDS
• model xxxx
• Battery
  
• LiPo xxxx
• I've been looking around at building a higher capacity battery for the vacuum, and/or upgrading the charging circuit to a higher amperage. It's stupid low right now.
• Vacuum Motor
• model xxxx
• modified centrifugal fan-style enclosure
• Main Brush
• 12V 250mA
• Gear reduction via 3 gears & 1 belt from motor. Heavy grease in gear case.
• Nylon gears - I plan to draw these to make 3d print backups. I have one gear clicking already.
• Front sensors
• 2x bump sensors
• xx optical sensors
• Rear sensor
• xxxx
• WiFi
• xxxx
• On separate PCB connected by ribbon
• Bin Sensor
• micro switch
• Main Board
• It will take some time for me to map the board schematic, but there was nothing special, other than some unused connectors, missing components, solderable switches, and the normal "looks like a development board" stuff

[Brian Martin]

I’m away for a bit but I could see making a new repo for this project on Github being useful for recording the work and making it available for all. 

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