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<a href="https://opencyphal.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/opencyphal.svg" width="25%"></a> CyphalRobotController07/CAN
Main controller board for the T07 robot platform and similar robots with a Raspberry Pi Pico to connect via CAN using OpenCyphal and UCANPHY Micro
features
- power supply for the whole system
- 5 V for the cyphal network and embedded board (Raspberry Pi or Beagle Bone Black)
- switchable output of battery voltage to supply additional hardware
- switchable output of battery voltage to supply LED or head lamp
- Input voltage up to 25 V
- Blade type fuse (ATO fuse)
- Power Pole connector
- measurement of input voltage and current with TI INA226
- control 2 DC motors
- 2 quad encoders for motors
- emergency stop
- Infineon IFX007T drivers, up to 40V and 55A
3 ultra sonic sensors HC-SR04(not implemented yet)- I2C bus
- qwiic connector
- 9 axis IMU Bosch BNO055 via I2C
- back-EMF measurement with ADS1015
- EEPROM 24LC64
- serial port for optional GNSS
- Neopixel for status
- CAN with Cyphal support
Firmware
- CyphalRobotController07-CAN-firmware: This is the default firmware for this board. It enables all basic functions
Pin Usage
Raspberry Pi Pico (CN1)
| Pin | Pin Name | Signal | Direction | Description |
|---|---|---|---|---|
| 1 | GP0 | UART0_TX | output | reserved for future use (GNSS) |
| 2 | GP1 | UART0_RX | input | reserved for future use (GNSS) |
| 3 | GND | GND | GND | |
| 4 | GP2 | QUAD0 | input | Quad encoder A channel 0 |
| 5 | GP3 | QUAD1 | input | Quad encoder A channel 1 |
| 6 | GP4 | I2C0_SDA | bidir | for eeprom and qwiic connector |
| 7 | GP5 | I2C0_SCL | output | for eeprom and qwiic connector |
| 8 | GND | GND | GND | |
| 9 | GP6 | PWM4 | output | motor pwm output 4 |
| 10 | GP7 | PWM3 | output | motor pwm output 3 |
| 11 | GP8 | PWM2 | output | motor pwm output 2 |
| 12 | GP9 | PWM1 | output | motor pwm output 1 |
| 13 | GND | GND | GND | |
| 14 | GP10 | INH34 | output | motor inhibit output 3 and 4 |
| 15 | GP11 | INH12 | output | motor inhibit output 1 and 2 |
| 16 | GP12 | EM_STOP | input | emergency stop |
| 17 | GP13 | NEOPIXEL | output | Neopixel |
| 18 | GND | GND | GND | |
| 19 | GP14 | QUAD2 | input | Quad encoder B channel 0 |
| 20 | GP15 | QUAD3 | input | Quad encoder B channel 1 |
| 21 | GP16 | SPI_MISO | input | SPI for MCP2515 |
| 22 | GP17 | MCP2515_CS | output | SPI for MCP2515 |
| 23 | GND | GND | GND | |
| 24 | GP18 | SPI_CLK | output | SPI for MCP2515 |
| 25 | GP19 | SPI_MOSI | output | SPI for MCP2515 |
| 26 | GP20 | MCP2515_INT | input | interrupt for MCP2515 |
| 27 | GP21 | OUTPUT0 | output | power output 0 |
| 28 | GND | GND | GND | |
| 29 | GP22 | OUTPUT1 | output | power output 1 |
| 30 | RUN | RESET | input | Reset for Board |
| 31 | GP26 | ANALOG_INPUT0 | analog input | analog input 0 |
| 32 | GP27 | ANALOG_INPUT1 | analog input | analog input 1 |
| 33 | GND | GND | GND | |
| 34 | GP28 | ANALOG_INPUT2 | analog input | analog input 2 |
| 35 | ADC_VREF | analog | ||
| 36 | 3V3 (OUT) | 3V3-rail | power | supply voltage for board |
| 37 | 3V3_EN | input | ||
| 38 | GND | GND | GND | |
| 39 | VSYS | power | ||
| 40 | VBUS | 5V-rail | power | supply voltage for board |
I2C devices
| address | device | description |
|---|---|---|
| 0x40 | INA226 | voltage and current measurement |
| 0x48 | ADS1015 | motor measurement |
| 0x4A | BNO055 | IMU |
| 0x50 | 24LC64 | eeprom for storage of settings |
PCB
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