VacuumRobot

Reverse engineering project for the 3irobotix CRL-200S robotic vacuum cleaner. This repository documents the hardware architecture, communication protocols, and component specifications with the goal of understanding and potentially rebuilding the robot's functionality from scratch.

Project Goals

• Hardware Reverse Engineering: Document PCB layout, identify components, and map connector pinouts
• Protocol Analysis: Decode communication protocols for sensors and peripherals
• Firmware Development: Build custom firmware to control the hardware (future goal)
• Software Reimplementation: Create navigation and control algorithms (future goal)

Current Progress

✅ Completed

• Lidar sensor protocol decoded and documented
• Real-time Lidar visualization tool (Python)
• Main motherboard component identification
• Connector pinout mapping and documentation
• A33-GD32F103 communication protocol reverse engineered
• Original firmware binary analysis (AuxCtrl process)
• Device access methods (SSH, debug mode) documented

🔄 In Progress

• Detailed circuit analysis and tracing
• Complete command ID mapping for MCU protocol

📋 Planned

• Firmware development for GD32F1 MCU
• Motor control implementation
• Navigation algorithm development
• Integration with custom control software

Hardware Overview

The 3irobotix CRL-200S uses a dual-processor architecture:

• Main CPU: Allwinner A33 (ARM Cortex-A7 Quad-Core) - likely handles high-level logic, WiFi, and user interface
• Motor Control MCU: GigaDevice GD32F103VCT6 (ARM Cortex-M3) - handles real-time motor control and sensor interfacing
• Lidar: 3irobotix Delta-2D with UART interface
• Memory: 4Gbit DDR3L RAM, 2Gbit NAND Flash
• Power: X-Powers AXP223 PMIC, 4-cell Li-ion battery with CN3704 charge controller
• Connectivity: Realtek RTL8189ETV WiFi module

Documentation

Hardware Documentation

1. Lidar Sensor Analysis - Protocol specification, pinout, and visualization tool
2. Motherboard Analysis - Component identification, connector mapping, and circuit analysis
   • Component Diagram - Detailed component identification and connections
   • Connection Evidence - A33-GD32 hardware connection analysis

Protocol & Communication

3. GD32F1 MCU Protocol - Communication protocol between A33 and GD32F103
   • GD32 Protocol - VERIFIED ⭐ - Complete verified protocol specification (RECOMMENDED)
   • Protocol Discovery Changelog - Evolution of understanding through 5 phases
   • CRC Algorithm Discovery - XOR checksum reverse engineering
   • Initial Protocol Analysis - Binary reverse engineering (contains outdated info, see notes)

Software & Firmware

4. Software & Firmware Analysis - Original firmware analysis, system architecture, and device access methods
   • AuxCtrl Binary Details - Deep analysis of the AuxCtrl process
   • Serial MITM Approach - PTY-based protocol capture method
   • Serial Logging Guide - Tools and techniques for packet capture
   • Test Results - Protocol testing outcomes

Firmware Implementation

5. Firmware Projects - Rust-based firmware for Allwinner A33
   • AuxCtrl-Rust - Open-source GD32 communication library
   • Lidar Reader - Rust library for 3iRobotix Delta-2D Lidar

Tools

Lidar Visualization (Research/Lidar/scan.py)

Real-time visualization tool for the 3irobotix Delta-2D Lidar sensor.

Requirements:

pip install pyserial matplotlib

Usage:

1. Connect Lidar to USB-UART adapter
2. Update serial port in scan.py (line 5)
3. Run: python Research/Lidar/scan.py

The tool displays a real-time polar plot showing distance measurements at 360 degrees.

Debug Mode

To enable extended debugging and logging:

1. Create file /mnt/UDISK/debug_mode on the device
2. Reboot or restart the Monitor process
3. Logs will be written to /mnt/UDISK/log/

See Software Analysis for more details on the system architecture.

Contributing

This is a personal reverse engineering project. Documentation improvements, protocol discoveries, and hardware analysis are welcome.

License

Apache 2.0 - See LICENSE file for details.