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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