Stellaris Robotic Evaluation Board User`s Manual
Contents
1. FB 2 TEXAS INSTRUMENTS PROJECT STELLARIS EVALBOT STELLARI S MICROCONTROLLERS 108 WILD BASIN ROAD SUITE 350 AUSTIN TX 78746 DESCRIPTION Power Supplies www ti com stellaris FILENAME EvalBot Rev A sch PART NO EK EVALBOT A 13 74LVC125ARGY 11 TCK SWCLK 74LVC125ARGY ICDI USB J3 CON USB MINI B 6 DBG_AND_JTAG 5V D ID G L2 rrr 3 3V 74LVC125ARGY 74LVC125ARGY z Rez 3 DBG AND SWD ICDI_VBUS Cay 0 1UF ADBUSO FT FT TDI DI 3V30UT ADBUS1 74LVC126A QFN ADBUS2 FT TDO DO ADBUS3 ET TMS OUTEN Fi TMS SWDIO USBDM ADBUS4 U20 A 74LVC125ARGY ADBUS5 ILL USBDP ADBUS6 13 74LVC125ARGY ADBUS7 ACBUSO H i ACBUS1 ACBUS2 n ACBUS3 k 4 SI WUA vcc 74LVC126A QFN NC BDBUS0 40 VCP_TXD TARGETRST ORG BDBUSI 39 VCP TX SW GND BDBUS2 BDBUS3 CAT93C46 BDBUS4 BDBUS5 HH BDBUS6 gt BDBUS7 74LVC126A QFN BCBUSO 8 TDO SWO BCBUS1 BCBUS2 BCBUS3 F SI WUB SWO EN PWREN 74LVC125ARGY VCC VCCIOA VCCIOB A2. PHASE_L VPROPI gt MOTOR_R DRV8801RT MODEI MODE2 PHASE PWM_L ENABLE SLEEP FAU VPROPI OUT gt MOTOR_R gt MOTOR_L DRV8801RT gt MOTOR L APECVA3010F3C Infrared 3 3V R1 2 7K 1 Ql APA3010P3BT 2 Infrared Q2 APA3010P3BT 2 Infrared gt LQEL A gt L QEI B MOTOR TERMI NALS MOTOR R gt x F MOTOR gt nn MOTOR L 2 gt wFw6w C4 o MOTOR_L Oy 13 2 DF13C 2P 1 25V BUMPER SWITCHES Sw3 o o gt BUMP L ESE 22MH22 got ae DESIGNER REVISION JAG A ESE 22MH24 DATE 8 6 2010 PROJECT STELLARIS EVALBOT Al MOTOR EVALBOT MHI MH2 E a gt A2 MOTOR EVALBOT MHI MH2 a Size 4 Mounting Hole aQ TEXAS INSTRUMENTS STELLARI S MICROCONTROLLERS 108 WILD BASIN ROAD SUITE 350 AUSTIN TX 78746 DESCRIPTION DESC1 DESC2 www ti com stellaris FILENAME EvalBot Rev A sch PART NO EK EVALBOT A 96X16 OLED DI SPLAY 33V 3 3V AUDI O CODEC AND AMPLI FIER U4 TLV320AIC3107 SCL SPOP SDA SPOM MCLK SWINP BCLK S
3. 0 05 pitch Ethernet 14 With its fully integrated 10 100 Ethernet MAC and PHY the LM3S9B92 requires only a standard Jack with integrated magnetics and a few passive components The TX and RX signals are routed to the jack as a differential pair The PHY incorporates MDI MDI X cross over so the function of the TX and RX pairs can be swapped in software October 7 2010 USB The LM3S9B92 microcontroller has Host Device and OTG USB capabilities EVALBOT supports USB Host and Device with dedicated connectors and a Texas Instruments T3USB30E high speed USB multiplexer to select between them Robotic Features Two 12 V gear motors provide locomotion to the EVALBOT A Texas Instruments DRV8801 Full Bridge motor driver IC controls each motor providing direction control over current and short circuit protection dead time insertion and several switching schemes Each EVALBOT wheel has two infra red optical sensors which generate a quadrature signal as the wheel rotates The IR emitters D2 D3 D11 and D12 each connect to a GPIO signal so that the MCU can turn off the LEDs for power saving when not in motion The GPIO outputs should be configured for 8 mA drive strength to ensure the IR emitters have sufficient intensity Left and right side bumpers detect collisions using simple detector switches The GPIO inputs should have internal pull up resistors enabled and may optionally be configured to generate an interrupt when a collision
4. 25 00MHz 5 0x3 2mm SMT NDK OMHZ Suntsu 8B48 25 000MHZ TR 48 Y2 1 FOXSDLF 060 20 Crystal 6 00MHz HC49US SMT Fox 49 1 NX5032GA 16 00000 Crystal 16 00MHz 5 0x3 2mm SMT tbd OMHZ 50 J5 J33 2 TFM 110 02 S D K A Connector 20 pos 1 27mm pitch SMT Samtec 51 U1 1 LM3S9B92 IQC80 IC ARM Cortex M3 Microcontroller TI TQFP100 52 U2 U13 2 DRV8801RTY IC Full Bridge Motor Driver TI 53 U4 1 TLV320AIC3107IRSB IC Audio CODEC with class D amplifier TI R WQFN 54 U5 1 TLV70018DDCT IC 1 8V 200mA Low dropout voltage TI regulator 55 U6 U10 2 TLV70033DDCT IC 3 3V 200mA Low dropout voltage TI regulator 56 U7 1 TPS71501DCKR IC Adjustable 50mA Low dropout voltage TI regulator SC70 57 U8 1 RGS08096016BW00 OLED display 96x16 Blue 13701 RIT 1 58 U9 1 TPS61085PWR IC Step up DC DC Converter TI 59 U11 1 TS3USB30EDGSR IC High Speed USB 2 0 1 2 Mux Demux TI Switch SSOP 60 U12 1 TPS2113PW IC 2 Ch Auto switching power mux TI 61 U14 1 TPS61073DDC IC Synchronous Boost Converter with TI 600 mA switch 62 U17 1 SN74LVC126ARGY IC Quad tri state line driver act lo TI TSSOP14 63 U19 U20 2 SN74LVC125ARGY IC Quad tri state line driver act hi TI TSSOP14 64 PCB1 1 PCB EVALBOT A PCB 4 layer 5 200x6 850 65 LABEL1 1 LABEL EVALBOT Label 2 90 x 0 50 Learn more at www ti com EvalBot Place on robot underside October 7 2010 27 Stellaris Robotic Evaluation Board User s Manual 28 October 7 2010 References In addition to this docum
5. 8 ACTIVE 95 posa opt SEE ze uU o pest 28 CH RE CHI ce 5655 EE R29 Ram 835 Trashy 1042 045 R3D 8058 CHO RM R37 RAZ esp SWITCH 2 9 Rs RIGHT 48 a ano MOTOR He PH3 J27 RAS J8 p21 i35 Pi ane PB OO 092 1041 gl RSTn 42 wO 5 m dS roo 3 HS i sf R38 e iso PH6 Lindo Og ia on MOTOR PLATE OUTER WHEEL 4 LEFT BUMPER OUTER WHEEL 2 FEATURING THE STELLARIS LM3S9B92 MICROCONTROLLER 23 Stellaris Robotic Evaluation Board User s Manual 24 October 7 2010 APPENDIX C Bill of Materials BOM Table C 1 shows the Bill of Materials for the EVALBOT board design Table C 1 EVALBOT Bill of Materials BOM 1 BAT1 3 3 1028 Compact AA Battery holder through hole Keystone 2 C1 C11 C24 25 C27 13 C2012X5R1E105K Capacitor 1 0uF 25V 10 X5R 0805 TDK C33 34 C39 C43 C54 C55 C56 C62 3 C15 C35 C41 C44 5 C0603C103J5RACTU Capacitor 0 01uF 50V 5 0603 X7R Kemet C48 4 C2 1 C0603C102J5RACTU Capacitor 0 001uF 50V 5 0603 X7R Kemet 5 C3 C5 6 C8 10 31 GRM188R71H104KA Capacitor 0 1uF 50V 10 0603 X7R TDK C12 14 C16 19 93D C21 23 C26 C30 31 C36 37 C46 C49 50 C52 53 C57 59 C61 C65 6 C4 C28 29 C38 C40 10 C0603C100J5GACTU Capacitor 10pF 50V
6. Com Port The normal VCP connection to UARTO is interrupted when using SWO Not all debuggers support SWO See the Stellaris LM3S9B92 Microcontroller Data Sheet for additional information on the Trace Port Interface Unit TPIU 16 October 7 2010 Schematics Schematics for the EVALBOT board follow Microcontroller Ethernet and USB on page 18 Wheel Encoders Motor Drivers and Bumper Switches on page 19 W User Interface Audio SD Card on page 20 Power Supplies on page 21 m In Circuit Debug Interface on page 22 October 7 2010 17 3 3V TARGET_RXD Ul PAO UORX PAI UOTX TARGET_TXD SDCLK SDCARD BUMP R BUMP L R QEL A L ENC LED PWR 2 1 n PA2 SSIOCLK PB2 DCOSCL PB6 DSOTXSCK PE4 I2S0TXWS SOTXSD PF1 I2S0TXMCLK PD4 DSRXSD PCO TCK SWCLK PCI TMS SWDIO PC2 TDI PC3 TDO SWO PEO EPIOS8 PEI EPIOS9 PE2 PHA0 PE3PHAI PEO PET OLED_RST LEDI LED2 OLED_SCL PGO DCISCL OLED SDA PGI DCISDA L_QEI_B PG7 PHBI H3 1 14 PJO 87 H4 1 H5 1 39 PUL H6 1 0 PJ2 52 PJ3 H7 1 H8 1 53 PJ4 H9 1 54 PJ5 55 PJ6 H10 1 RESETN XTALNPHY XTALPPHY OSCO OSCI ERBIAS NC GNDI GND2 GND3 GND4 GNDS GND6 GND7 PB1 USBOVBUS P
7. TI products in such safety critical applications notwithstanding any applications related information or support that may be provided by TI Further Buyers must fully indemnify TI and its representatives against any damages arising out of the use of TI products in such safety critical applications TI products are neither designed nor intended for use in military aerospace applications or environments unless the TI products are specifically designated by TI as military grade or enhanced plastic Only products designated by TI as military grade meet military specifications Buyers acknowledge and agree that any such use of TI products which TI has not designated as military grade is solely at the Buyer s risk and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use TI products are neither designed nor intended for use in automotive applications or environments unless the specific TI products are designated by TI as compliant with ISO TS 16949 requirements Buyers acknowledge and agree that if they use any non designated products in automotive applications TI will not be responsible for any failure to meet such requirements Following are URLs where you can obtain information on other Texas Instruments products and application solutions Products Applications Amplifiers amplifier ti com Audio www ti com audio Data Converters dataconverter ti com Automotive w
8. arrive ready to run The board s robotics capabilities require less than 30 minutes of mechanical assembly Figure 1 1 shows a photo of the EVALBOT Figure 1 1 Stellaris amp EVALBOT Robot When roaming three AA batteries supply power to the EVALBOT The EVALBOT automatically selects USB power when tethered to a PC as a USB device or when debugging Test points are provided to all key EVALBOT signals Two 20 pin headers enable future wireless communications using standardized Texas Instruments low power embedded radio modules EM boards Additional uncommitted microcontroller signals are available on break out pads arranged in rows adjacent to the microcontroller The EVALBOT has factory installed quickstart software resident in on chip Flash memory For software debugging and Flash programming an integrated In Circuit Debug Interface ICDI requires only a single USB cable for debug and serial port functions Features The EVALBOT board includes the following features Evaluation board with robotic capabilities Mechanical components assembled by user October 7 2010 9 Stellaris Robotic Evaluation Board User s Manual Stellaris amp LM3S9B92 IQC80 microcontroller MicroSD card connector 12S audio codec with speaker USB Host and Device connectors RJ45 Ethernet connector Bright 96 x 6 Blue OLED display On board In Circuit Debug Interface ICDI Battery power 3 AA batteries or power through USB Wireless communicati
9. provides an accurate timebase for the Ethernet PHY The RESET signal into the LM3S9B92 microcontroller connects to the Reset On switch SW6 and to the ICDI circuit for a debugger controlled reset External reset is asserted active low under any one of three conditions Power on reset filtered by an R C network Reset On push switch SW6 held down m By the ICDI circuit when instructed by the debugger this capability is optional and may not be supported by all debuggers The OLED Module and Audio CODEC have special Reset timing requirements requiring a dedicated control line from the microcontroller Power Supplies The EVALBOT can be powered either from batteries the ICDI USB cable or a USB device cable The power source is determined by a Texas Instruments TPS2113 Auto Switching Power Mux and two Schottky diodes Battery power is selected automatically when USB power is not present October 7 2010 13 Stellaris Robotic Evaluation Board User s Manual Table 2 1 shows the EVALBOT s power supplies Each supply is generated directly or indirectly from the main power bus VS using either a linear regulator or boost converter Table 2 1 EVALBOT Power Supplies VS 3 5 5 0V 0 5A Main power distribution bus to other power rails 3 3V 3 3 V 150 mA Logic power supply for main MCU digital and ICDI functions 3 3VA 3 3 V 150 MA Analog and I O power for audio CODEC 1 8V 1 8V 25 mA Digital core power fo
10. under the patents or other intellectual property of the third party or a license from TI under the patents or other intellectual property of TI Reproduction of TI information in TI data books or data sheets is permissible only if reproduction is without alteration and is accompanied by all associated warranties conditions limitations and notices Reproduction of this information with alteration is an unfair and deceptive business practice TI is not responsible or liable for such altered documentation Information of third parties may be subject to additional restrictions Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice is not responsible or liable for any such statements TI products are not authorized for use in safety critical applications such as life support where a failure of the TI product would reasonably be expected to cause severe personal injury or death unless officers of the parties have executed an agreement specifically governing such use Buyers represent that they have all necessary expertise in the safety and regulatory ramifications of their applications and acknowledge and agree that they are solely responsible for all legal regulatory and safety related requirements concerning their products and any use of
11. 0 GDOO BT FM AUD 125 RX RF SPI CLK RF SPI MOSI RF SPI MISO RF GPIO1 GDO2 USBM RF SPI CSn USBP 76 RF SPI CLK NC RF SPI MOSI RF UART RTS 5 RF UART RTS RF SPI MISO RF GPIO3 CONNECTOR 1 EM CONNECTOR 2 10 100 BASET ETHERNET Ordering STELLARI S MI CROCONTROLLER DESIGNER REVISION DATE JAG A 8 6 2010 PROJECT STELLARIS EVALBOT TEXAS INSTRUMENTS STELLARI S MICROCONTROLLERS 108 WILD BASIN ROAD SUITE 350 AUSTIN TX 78746 DESCRIPTION MCU Ethernet USB www ti com stellaris FILENAME EvalBot Rev A sch PART NO EK EVALBOT A ENC_LED_PWR RI GHT WHEEL ENCODER RR D11 3 3V APECVA3010F3C Infrared RR D12 3 3V APECVA3010F3C Infrared 3 3V R57 2 7K Q4 APA3010P3BT Infrared Q5 APA3010P3BT 2 Infrared gt R_QEI_A gt R_QEI_B LEFT WHEEL ENCODER D2 HS R3 MW 120 APECVA3010F3C Infrared mR HV Q6 BSS123LT1 SLOW_DECAY MODEI MODE2 PHASE_R PHASE PWM_R ENABLE SLEEP FAULT MFAULT lt
12. 5 Ceramic Kemet C42 C45 C47 C51 NPO COG 0603 C60 7 C20 C32 2 C0603C270J5GACTU Capacitor 27pF 50V 5 Ceramic Kemet NPO COG 0603 8 C7 C63 64 3 C3225X5R1C106M Capacitor 10uF 16V 20 X5R 1210 TDK 9 D5 D8 9 3 LTST C171GKT LED 0805 SMT Green LiteOn 10 D2 3 D11 12 4 APECVA3010F3C LED Infrared Right Angle in 3 0 x 1 0mm Kingbright SMT 11 D4 D6 7 4 5512 Diode Schottky 20V 1 SMA Taiwan Semi 12 D10 1 BAS40 05 7 F Diode Schottky 40V 100mA SOT23 Diodes 13 J1 1 HR961160C Connector RJ45 with 10 100 magnetics Hanrun Pulse J3011G21DNL shielded SMT J3011G21DNLT 14 J2 1 2908 05WB MG Connector Micro SD card push push 3M SMT 15 J3 J6 2 54819 0572 Connector USB Mini B SMT 5pin Molex 16 J7 1 AU Y1006 R Connector USB Type A Assmann 154 UAR42 E Kobiconn October 7 2010 25 Stellaris Robotic Evaluation Board User s Manual Table C 1 EVALBOT Bill of Materials BOM Continued 17 J8 013 2 DF13C 2P 1 25V 20 Connector Header 2 pos 1 25mm SMD Hirose Tin 18 K1 1 AST 01508MR R Speaker 8 ohm 0 3W 15mm PCB mount Projects Unlimited 19 L1 2 2 VLF4012AT 4R7M1R Inductor 3 7x3 5 SMT 1 1A TDK 1 20 Q1 2 Q4 5 4 APA3010P3BT Phototransistor Infrared Right Angle in Kingbright 3 0 x 1 0mm SMT 21 Q3 Q6 2 BSS123LT1 MOSFET N Channel 100V 170mA On Semi SOT 23 22 R11 R52 2 Resistor 1 ohms 196 0603 Generic 23 R19 R22 2 Resistor 27 ohms 5 0603 Generic 24 R1 2 R57 58 4 Resi
13. A SchematiCS c D 17 Appendix B Component Locations U U U u u uuu u u u u 23 Appendix C Bill of Materials 1 U 25 Appendix D References U U nananana vii nali 29 October 7 2010 3 Stellaris Robotic Evaluation Board User s Manual 4 October 7 2010 List of Figures Figure 1 1 Stellaris amp EVALBOT Robot i 9 Figure 1 2 EVALBOT Block Diagram i 11 Figure B 1 EVALBOT Component LocationSs iii 23 October 7 2010 Stellaris Robotic Evaluation Board User s Manual 6 October 7 2010 List of Tables Table 1 1 Table 2 1 Table 2 2 Table C 1 EVAEBOT SpecIfICations dee iaia 12 EVALBOT Power SupplieS ii 14 Connector Part Numbers iii 15 EVALBOT Bill of Materials BOM rissie etann aranna nan aaran a e aa aE e Pe et na 25 October 7 2010 Stellaris Robotic Evaluation Board User s Manual 8 October 7 2010 CHAPTER 1 Board Overview The Stellaris amp Robotic Evaluation Board EVALBOT is a robotic evaluation platform for the Stellaris LM3S9B92 microcontroller The board also uses a range of Texas Instruments analog components for motor drive power supply and communications functions The EVALBOT s electronics
14. A6 PBO PBA UIRX PBS UITX PB7 PDO PWMO PDI PWMI PD2 PD3 AIN12 PDS PD6 PD7 CCPI PC4 PCS PC6 PC7 PHBO PHO PWM2 PHI PWM3 PH2 PH3 PHA SSIICLK PHS PH6 SSIIRX PH7 SSIITX USBODM USBODP USBORBIAS PF2 LEDI PF3 LEDO MDIO TXOP 5V_HVBUS EN_VBUS RF GPIOO 3 RF GPIO1 RF SPI CLK RF SPI CS MFAULT PWM R PHASE R SLOW DECAY VMON EN 12V USER SW1 USER SW2 RF UART CTS RF RST SD RF UART RTS R QEI B L PHASE L USB HOST J7 CON USB A SMT USB DEVICE 16 CON USB MINI B 5V D D ID G iti DVBUS 5V_HVBUS C59 ARLE rA Utt DEVICE HOST 3 3V c53 5 0 1UF GND WIRELESS EM SOCKET 15 133 TS3USB30EDGS VSS VDD2 1 8V OPTION RF_UART_CTS VDD2 1 8V OPTION RF_UART_CTS RF_SLOW_CLK 32K VDD2 1 8V OPTION RF_UART_RX VDD1 3 3V ASDA ASCL RF SDIO CMD BT FM_AUD_I2S_CLK RF_UART_TX VDD1 3 3V RF_I2C_SDA BT FM_AUD_I2S_FS RF_I2C_SCL RF GPIO2 RF SDIO CLK RF CC RSTN VSS RF_WCS_NSHUTD 2 RF SPI MISO RF SPI MOSI s RF SDIO D3 BT FM AUD I25 DX RF SDIO DO vss RF SDIO D1 ANA AUDIO FM LEFT RF SDIO D2 ANA AUDIO FM RIGHT RF GPIO
15. GETRST lt On Reset DIO BAS40 05 D10 Mm SW6 2 Lt C63 ST 10UF 16V EN VSNS ILIM GND TPS2113 When enabled Power Mux Selects higher of IN1 or IN2 ded 2 Q3 BSS123LTl Power Off SWS BAT AA KEYELCO 1028 BAT AA KEYELCO 1028 BAT AA KEYELCO 1028 Chassis GND to Logic GND connection R38 IN OUT EN NC GND 3 3V 150mA CODEC Analog Supply U6 TLV70033DDC IN OUT EN NC GND 2 1 8V 25mA CODEC Logic Supply US TLV70018DDC L2 VLF4012AT 4R7MIR1 e on Hw 4 7uH nei IN OUT EN NC GND 5V 100mA USB Supply Supply must be enabled for Host and Device modes 014 TPS61073DDC VOUT VBAT 3 EN EN_vBUS ce AUF R51 100K LI VLF4012AT 4R7M1R1 4 7uH Ug TPS61085 D4 IN sw C64 10UF 16V gt 45V HVBUS 12V 100mA Motor Supply gt EN_12v EN FB COMP FREQ GND SS C7 10UF 16V DESIGNER JAG A REVISION R63 MW 1K VDDC See Errata Ut6 TLV70012DDC IN OUT EN NC GND 2 10V 5mA OLED Supply U7 TPS71501DCK IN OUT DATE 8 6 2010 NC
16. Stellaris Robotic Evaluation Board User s Manual Xi TEXAS INSTRUMENTS EKB UCOS3 EVM UM 00 Copyright 2010 Texas Instruments Copyright Copyright 2010 Texas Instruments Inc rights reserved Stellaris and StellarisWare are registered trademarks of Texas Instruments ARM and Thumb are registered trademarks and Cortex is a trademark of ARM Limited Other names and brands may be claimed as the property of others Texas Instruments 108 Wild Basin Suite 350 Austin TX 78746 I m mm m BH http www ti com stellaris l M MENT S Cort tex Intelligent Processors by OO 2 2 October 7 2010 Table of Contents Chapter 1 Board Overview iriiiii iii iii 9 Fealuirfesuu a s us LI lai EE eren ha Iii nu da tipe ep ten u qh wa or ai 9 Block Dlagrami iti i eine Si e al 10 SPOMIN S die ao pc 12 Chapter 2 Hardware Description cri 13 LM3S9B92 Microconiroller iamrarartanio lia 13 GIOCKING 56 a tau E 13 Ree 13 PowersS pDlieS u m C untu loa teeters gia ala iaia dii 13 Organi LED DiS play u uya ioo RE eere a Ee Pd h e pg 14 microSD CARD ET 14 Ue 14 E A RII TM MI e 14 USB nete s IE LA a i ie t AL dla 15 Robotie Features alle licei yaka e bets 15 erum a ila e 15 Debugglrig ona PO RO I eO elio tuac NU 15 Appendix
17. VCC VCP_TXD are WM TARGET RXD Al 74LVC126A QFN T VCP_RXD TARGET_TXD LVC125ARGY U19 C ICDI HEADER NOT INSTALLED 3 3V J4 DESIGNER REVISION DATE JAG A 8 6 2010 m TEXAS INSTRUMENTS PROJECT JI STELLARI S MICROCONTROLLERS l s 3 STELLARIS EVALBOT 108 WILD BASIN ROAD SUITE 350 C42 10BSA1 G AUSTIN TX 78746 m DESCRIPTION of o www ti com stellaris In Circuit Debug Interface 74LVC125ARGY 74LVC125ARGY 74LVC126A QFN FILENAME PART NO EvalBot Rev A sch EK EVALBOT A Component Locations Plots of the top side and bottom side component locations are shown in Figure B 1 Complete Gerber RS274X and PCB Mentor PADS files for the four layer PCB layout are included in the EVALBOT Board Hardware Package Figure B 1 October 7 2010 RIGHT BUMPER MOTOR PLATE OUTER WHEEL 1 RI6 RIT INNER WHEEL 1 EVALBOT Component Locations INNER WHEEL 2 ON RESET 3 amp K u LEFT 028 109 1010162 ex 181202222192 MOTOR la at cu U5 036 44 3 3v 23 m Rit 15 paz 2 n B HH run 6 ut ut pas ac 026 A a 102 d E PLE lug pro N 5 g
18. WINM WCLK SWOUTP DIN SWOUTM AST 01508MR R DOUT MICDET LINEILM LINEILP HPCOM LINEIRP HPLOUT MIC3L LINEIRM HPROUT LINE2LP 4 OLED_RST LINE2RP LINE2LM MIC3R LINE2RM WR H23 1 MICBIAS RD OLED SCL DO SCL RESET LEFT_LOP OLED SDA DI SDA H24 1n GPIOI RIGHT_LOP 7 2 3 3VA 3 3VA 3 3VA 18 OVDD I T t DRVDD2 DRVDDI 25 Z SPVDD AVDD AVDD DAC DVDD OLED RIT P13701 microSD CARD INTERFACE 3 3V 3 3V R23 M 10K 2 TOK microSD card connector SMT TP13 10 11 TP12 R24 NC1 cs DI VDD CLK vss DO RSV SDCS SDMOSI SDCLK SDMISO STATUS LEDS USER SWITCHES z XxX De b gt USER SW1 p DESIGNER REVISION DATE user su JAG TEXAS INSTRUMENTS p PROJECT STELLARI S MICROCONTROLLERS STELLARIS EVALBOT 108 WILD BASIN ROAD SUITE 350 AUSTIN TX 78746 DESCRIPTION USER INTERFACE AUDIO SD CARD www ti com stellaris FILENAME PART NO EvalBot Rev A sch EK EVALBOT A DVBUS ICDI_VBUS doi 3 3V 150mA Logic Supply U10 TLV70033DDC TAR
19. ent the following references are available for download at www ti com stellaris October 7 2010 Stellaris LM3S9B92 Microcontroller Data Sheet Stellaris LM3S5632 Microcontroller Data Sheet DMOS Full Bridge Motor Drivers Data Sheet DRV8801RTY Low Power Stereo CODEC with Integrated Mono Class D Amplifier Data Sheet TLV320AIC3107 200mA Low IQ Low Dropout Regulator for Portables Data Sheet TLV70018 200mA Low IQ Low Dropout Regulator for Portables Data Sheet TLV70033 50mA 24V 3 2 uA Supply Current Low Dropout Linear Regulator in SC70 Package Data Sheet TPS71501 650 kHz 1 2MHz Step Up DC DC Converter w Forced PWM Mode Data Sheet TPS61085 High Speed USB 2 0 480 Mbps 1 2 Multiplexer Demultiplexer Switch With Single Enable Data Sheet TS3USB30 Dual In Single Out Autoswitching Power MUX Data Sheet TPS2113 Adjustable 600 mA Switch 90 Efficient PFM PWM Boost Converter in ThinSOT Data Sheet TPS61073 The following data sheets can be obtained from the manufacturer P13701 OLED Display Data Sheet from RiT Display Corporation SSD1300 OLED Controller Data Sheet from Solomon Systech Limited 29 Stellaris Robotic Evaluation Board User s Manual 30 October 7 2010 IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries TI reserve the right to make corrections modifications enhancements improvements and other changes to its products and services at any time and to discontinue any product or se
20. occurs Expansion The EM port on EVALBOT enables RF connectivity using a range of Low Power RF Evaluation Modules EM boards from Texas Instruments EM boards cover both Sub 1 GHz and 2 4GHz bands and are a supported by a several different protocol stacks The EM port can also be used for general purpose expansion SPI UART and GPIO signals are available Table 2 2 lists the connector part numbers Two identical connectors should be installed on a 1 20 pitch Table 2 2 Connector Part Numbers Samtec TFM 110 02 S D SMT Header 20 pos 0 050 pitch EVALBOT EM port Samtec SFM 110 02 S D SMT Socket 20 pos 0 050 pitch EM board In additional to the EM port EVALBOT also has 9 GPIO PJO 7 PE7 Power and GND connections on a 0 1 grid Debugging EVALBOT includes an integrated In Circuit Debug Interface ICDI for debugging serial communication and power over a single USB cable Based on an FTDI FT2232 USB controller the ICDI supports all major Cortex M3 development environments Stellaris microcontrollers support programming and debugging using either JTAG or SWD JTAG uses the signals TCK TMS TDI and TDO SWD requires fewer signals SWCLK SWDIO and optionally SWO for trace The debugger determines which debug protocol is used An external debug interface can be used with EVALBOT if connector J4 is installed by the user JTAG SWD The FT2232 is factory configured by Texas Instruments to implement a JTAG SWD
21. on expansion port Robot features Two DC gear motors provide drive and steering Opto sensors detect wheel rotation with 45 resolution Sensors for bump detection Block Diagram The EVALBOT evaluation board uses the Stellaris amp LM3S9B92 microcontroller and includes a 10 100 Ethernet port and a USB 2 0 full speed On the Go OTG port The EVALBOT combines all mechanical and electrical components on a single circuit board Figure 1 2 on page 11 shows a block diagram of the electrical section of the EVALBOT 10 October 7 2010 Figure 1 2 EVALBOT Block Diagram 000000000000000 VO Signal Break out 96x16 OLED e del Graphics display Speaker Right side Motor Bump NE Sensors T OO OO OO O0 Debug Header Left side Motor Wheel Sensors USB for ICDI In Circuit Debug Interface and Virtual COM Port October 7 2010 11 Stellaris Robotic Evaluation Board User s Manual Specifications 12 Table 1 1 shows the specifications for the EVALBOT Table 1 1 EVALBOT Specifications Battery Supply Voltage 3 5 V 4 5V 5 0V USB Supply Voltage 4 0 V 5 0V 5 25 V Battery current typical stationary _ 100 mA _ Battery current typical in motion _ 200 mA Power down supply current 0 5 uA AA Alkaline Battery Capacity typ _ 2 5 A Hr Reverse Batter
22. port synchronous serial on channel A and a Virtual COM Port VCP on channel B This feature October 7 2010 15 Stellaris Robotic Evaluation Board User s Manual allows two simultaneous communications links between the host computer and the target device using a single USB cable Separate Windows drivers for each function are provided on the Documentation and Software CD The In Circuit Debug Interface USB capabilities are completely independent from the LM3S9B92 s on chip USB functionality A small serial EEPROM holds the FT2232 configuration data The EEPROM is not accessible by the LM3S9B92 microcontroller For full details on FT2232 operation go to www ftdichip com The FT2232 USB device performs JTAG SWD serial operations under the control of the debugger A simple logic circuit multiplexes SWD and JTAG functions and when working in SWD mode provides direction control for the bidirectional data line Virtual COM Port The Virtual COM Port VCP allows Windows applications such as HyperTerminal to communicate with UARTO on the LM3S9B92 over USB Once the FT2232 VCP driver is installed Windows assigns a COM port number to the VCP channel Serial Wire Out EVALBOT also supports the Cortex M3 Serial Wire Output SWO trace capabilities Under debugger control on board logic can route the SWO data stream to the VCP transmit channel The debugger software can then decode and interpret the trace information received from the Virtual
23. r audio CODEC 5V_HVBUS 5 25 V 100 MA USB Host power supply 12V 12V 100 mA Motor driver power supply 10V 10V 5 mA OLED bias power supply The board s on off feature uses two push switches SW5 SW6 and a simple feedback circuit through the inverter created by MOSFET Q3 An internal 1uA constant current source on the TPS2113 s Enable pin ENn ensures that the TPS2113 is initially powered on when power is connected Resistor R47 sets the overcurrent protection to 0 5 A Organic LED Display The user interface consists of a 96 x 16 OLED display and two push switches The OLED display has an integrated controller IC with a parallel SPI and 2 interfaces In this design the 2 interface is used The OLED display is limited to write only in this mode so pixel data cannot be read back from the display microSD CARD Audio EVALBOT includes a microSD card interface which interfaces to the MCU using a SPI interface Because power to the SD card is not controlled removing or inserting the card while power is applied is not recommended A Texas Instruments TLV320AIC3107 CODEC adds a high performance audio stage to the EVALBOT An integrated mono class D amplifier drives an on board speaker with other audio inputs and outputs available on break out header pads An 125 interface carries the output and input audio data streams while an IC interface configures the CODEC Most unused audio pins are available on nearby pads
24. rvice without notice Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete All products are sold subject to Tl s terms and conditions of sale supplied at the time of order acknowledgment TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with Tl s standard warranty Testing and other quality control techniques are used to the extent TI deems necessary to support this warranty Except where mandated by government requirements testing of all parameters of each product is not necessarily performed TI assumes no liability for applications assistance or customer product design Customers are responsible for their products and applications using Tl components To minimize the risks associated with customer products and applications customers should provide adequate design and operating safeguards TI does not warrant or represent that any license either express or implied is granted under any TI patent right copyright mask work right or other TI intellectual property right relating to any combination machine or process in which TI products or services are used Information published by TI regarding third party products or services does not constitute a license from TI to use such products or services or a warranty or endorsement thereof Use of such information may require a license from a third party
25. stor 4 7K 596 0603 Generic 25 R13 1 Resistor 22 6K 196 0603 Generic 26 R14 R18 R23 24 12 Resistor 10K 596 0606 Generic R36 R40 R44 45 R49 R60 62 27 R39 1 Resistor 9 10K 196 0603 Generic 28 R21 R25 2 Resistor 1 0M 196 0603 Generic 29 R26 R53 2 Resistor 137K 196 0603 Generic 30 R29 1 Resistor 12 4K 196 0603 Generic 31 R5 R64 2 Resistor 10 ohms 596 0603 Generic 32 R31 33 R35 R43 5 Resistor 49 9 ohms 196 0603 Generic 33 R3 4 R54 55 4 Resistor 120 ohms 196 0603 Generic 34 R10 R12 R38 3 Resistor 0 ohms 0603 Generic 35 R16 17 R34 R37 6 Resistor 1K 596 0603 Generic R47 R63 36 R7 R59 2 Resistor 1 5K 596 0603 Generic 37 R15 R20 R30 R41 6 Resistor 330 ohms 596 0603 Generic R48 R50 38 R56 1 Resistor 1 30M 196 0603 Generic 39 R6 1 Resistor 47K 596 0603 Generic 40 R8 R27 28 3 Resistor 200K 196 0603 Generic 41 R9 R42 R46 R51 4 Resistor 100K 196 0603 Generic 42 SW3 1 ESE 22MH22 Switch Detector style Horizontal Panasonic Right top actuation 26 October 7 2010 Table C 1 EVALBOT Bill of Materials BOM Continued 43 SW4 1 ESE 22MH24 Switch Detector style Horizontal Left top Panasonic actuation 44 SW1 2 SW5 6 2 EVQ Q2B02W Switch Tact 6mm SMT 50gf Panasonic 45 U3 1 FT2232D IC USB to Serial Interface TQFP48 Ftdi 46 U15 1 CAT93C46YI G IC Serial Eeprom 1Kbit TSSOP8 Catalyst Atmel AT93C46A 10TU 2 7 47 YI 1 NX5032GA 25 00000 Crystal
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27. y Protection No Allowable Battery USB Current 0 5A a From Energizer E91 data sheet October 7 2010 Hardware Description The EVALBOT consists of a 4 inch diameter circuit board populated with a Stellaris LM3S9B92 microcontroller and 14 additional Texas Instruments analog and digital semiconductors LM3S9B92 Microcontroller The Stellaris LM3S9B92 is an ARM Cortex M3 based microcontroller with 256 KB flash memory 96 KB SRAM 80 MHz operation Ethernet MAC PHY USB Host Device OTG and a wide range of other peripherals See the LM3S9B92 microcontroller data sheet order number DS LM3S9B92 for complete device details Unused microcontroller signals are routed to either the 20 pin EM expansion headers or to 0 1 pitch break out pads which are labeled with their GPIO reference An internal multiplexer allows different peripheral functions to be assigned to each of these GPIO pads When adding external circuitry consideration should be given to the additional load on the EVALBOT s power rails The reference design may include additional components necessary to address silicon errata For details of those circuit functions see the LM3S9B92 Errata document Clocking Reset The EVALBOT uses a 16 0 MHz crystal to complete the LM3S9B92 microcontroller s main internal clock circuit An internal PLL configured in software multiples this clock to higher frequencies for core and peripheral timing A 25 0 MHz Y1 crystal
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