-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathcortex_main.sch
466 lines (466 loc) · 10.3 KB
/
cortex_main.sch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
EESchema Schematic File Version 2
LIBS:power
LIBS:device
LIBS:transistors
LIBS:conn
LIBS:linear
LIBS:regul
LIBS:74xx
LIBS:cmos4000
LIBS:adc-dac
LIBS:memory
LIBS:xilinx
LIBS:microcontrollers
LIBS:dsp
LIBS:microchip
LIBS:analog_switches
LIBS:motorola
LIBS:texas
LIBS:intel
LIBS:audio
LIBS:interface
LIBS:digital-audio
LIBS:philips
LIBS:display
LIBS:cypress
LIBS:siliconi
LIBS:opto
LIBS:atmel
LIBS:contrib
LIBS:valves
LIBS:bot_parts
EELAYER 25 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 5
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Sheet
S 2550 1300 1950 2200
U 57A04579
F0 "Sheet_MCU" 60
F1 "cortex_main_mcu.sch" 60
F2 "UART_DGB_TXD" I L 2550 3150 60
F3 "UART_DBG_RXD" I L 2550 3250 60
F4 "DIR_L" I R 4500 1600 60
F5 "DIR_R" I R 4500 2100 60
F6 "ENCB_R" I R 4500 2300 60
F7 "ENCB_L" I R 4500 1800 60
F8 "ENCA_R" I R 4500 2200 60
F9 "ENCA_L" I R 4500 1700 60
F10 "PWM_R" I R 4500 2000 60
F11 "PWM_L" I R 4500 1500 60
F12 "SDA_C" I L 2550 2900 60
F13 "SCL_C" I L 2550 3000 60
F14 "SDA_D" I L 2550 2650 60
F15 "SCL_D" I L 2550 2750 60
F16 "RGB_LEDEN_L" I L 2550 2500 60
F17 "RGB_LEDEN_R" I L 2550 2400 60
F18 "IR_VIN_0" I L 2550 1400 60
F19 "IR_VIN_1" I L 2550 1500 60
F20 "IR_VIN_2" I L 2550 1600 60
F21 "IR_VIN_3" I L 2550 1700 60
F22 "IR_VIN_4" I L 2550 1800 60
F23 "IR_VIN_5" I L 2550 1900 60
F24 "IR_VIN_6" I L 2550 2000 60
F25 "IR_VIN_7" I L 2550 2100 60
F26 "CMD_ARMMOTOR_L" O R 4500 2500 60
F27 "CMD_ARMMOTOR_R" O R 4500 2600 60
F28 "CMD_PUMP_BR" O R 4500 3300 60
F29 "CMD_PUMP_BL" O R 4500 3200 60
F30 "CMD_PUMP_TR" O R 4500 3100 60
F31 "CMD_PUMP_TL" O R 4500 3000 60
$EndSheet
$Sheet
S 5750 1300 2000 2850
U 57A060D2
F0 "Sheet_Motors" 60
F1 "cortex_main_motors.sch" 60
F2 "PWM_L" I L 5750 1500 60
F3 "DIR_L" I L 5750 1600 60
F4 "PWM_R" I L 5750 2000 60
F5 "DIR_R" I L 5750 2100 60
F6 "OUTA_L" I R 7750 1500 60
F7 "OUTB_L" I R 7750 1600 60
F8 "OUTA_R" I R 7750 2000 60
F9 "OUTB_R" I R 7750 2100 60
F10 "CMD_ARMMOTOR_L" I L 5750 2500 60
F11 "CMD_ARMMOTOR_R" I L 5750 2600 60
F12 "OUTN_ARMMOTOR_L" I R 7750 2600 60
F13 "OUTN_ARMMOTOR_R" I R 7750 2850 60
F14 "OUTP_ARMMOTOR_L" I R 7750 2500 60
F15 "OUTP_ARMMOTOR_R" I R 7750 2750 60
F16 "CMD_PUMP_TL" I L 5750 3000 60
F17 "OUTN_PUMP_TL" I R 7750 3100 60
F18 "CMD_PUMP_TR" I L 5750 3250 60
F19 "OUTN_PUMP_TR" I R 7750 3350 60
F20 "OUTP_PUMP_TL" I R 7750 3000 60
F21 "OUTP_PUMP_TR" I R 7750 3250 60
F22 "CMD_PUMP_BL" I L 5750 3500 60
F23 "OUTN_PUMP_BL" I R 7750 3600 60
F24 "CMD_PUMP_BR" I L 5750 3750 60
F25 "OUTN_PUMP_BR" I R 7750 3850 60
F26 "OUTP_PUMP_BL" I R 7750 3500 60
F27 "OUTP_PUMP_BR" I R 7750 3750 60
$EndSheet
Text GLabel 4250 4550 2 60 Input ~ 0
ENCA_L
Text GLabel 4250 4650 2 60 Input ~ 0
ENCB_L
Text GLabel 4250 4800 2 60 Input ~ 0
ENCA_R
Text GLabel 4250 4900 2 60 Input ~ 0
ENCB_R
Text GLabel 4600 1700 2 60 Input ~ 0
ENCA_L
Text GLabel 4600 1800 2 60 Input ~ 0
ENCB_L
Text GLabel 4600 2200 2 60 Input ~ 0
ENCA_R
Text GLabel 4600 2300 2 60 Input ~ 0
ENCB_R
$Sheet
S 5750 4500 1150 1250
U 5802031E
F0 "Sheet_PSU" 60
F1 "cortex_main_psu.sch" 60
$EndSheet
Wire Wire Line
4500 1500 5750 1500
Wire Wire Line
4500 1600 5750 1600
Wire Wire Line
4500 2000 5750 2000
Wire Wire Line
4500 2100 5750 2100
Wire Wire Line
2550 4150 2350 4150
Wire Wire Line
2250 4250 2550 4250
Wire Wire Line
4500 1700 4600 1700
Wire Wire Line
4500 1800 4600 1800
Wire Wire Line
4500 2200 4600 2200
Wire Wire Line
4500 2300 4600 2300
Wire Wire Line
2350 4150 2350 3250
Wire Wire Line
2350 3250 2550 3250
Wire Wire Line
2250 4250 2250 3150
Wire Wire Line
2250 3150 2550 3150
Wire Wire Line
2550 4400 2150 4400
Wire Wire Line
2150 4400 2150 3000
Wire Wire Line
2150 3000 2550 3000
Wire Wire Line
2550 4500 2050 4500
Wire Wire Line
2050 4500 2050 2900
Wire Wire Line
2050 2900 2550 2900
Wire Wire Line
2550 2750 1950 2750
Wire Wire Line
1950 2750 1950 4650
Wire Wire Line
1950 4650 2550 4650
Wire Wire Line
2550 2650 1850 2650
Wire Wire Line
1850 2650 1850 4750
Wire Wire Line
1850 4750 2550 4750
Wire Wire Line
2550 2500 1750 2500
Wire Wire Line
1750 2500 1750 4900
Wire Wire Line
1750 4900 2550 4900
Wire Wire Line
2550 2400 1650 2400
Wire Wire Line
1650 2400 1650 5000
Wire Wire Line
1650 5000 2550 5000
Text GLabel 2350 1400 0 60 Input ~ 0
IR_VIN_0
Text GLabel 2350 1500 0 60 Input ~ 0
IR_VIN_1
Text GLabel 2350 1600 0 60 Input ~ 0
IR_VIN_2
Text GLabel 2350 1700 0 60 Input ~ 0
IR_VIN_3
Text GLabel 2350 1800 0 60 Input ~ 0
IR_VIN_4
Text GLabel 2350 1900 0 60 Input ~ 0
IR_VIN_5
Text GLabel 2350 2000 0 60 Input ~ 0
IR_VIN_6
Text GLabel 2350 2100 0 60 Input ~ 0
IR_VIN_7
Text GLabel 2350 5250 0 60 Input ~ 0
IR_VIN_0
Text GLabel 2350 5350 0 60 Input ~ 0
IR_VIN_1
Text GLabel 2350 5450 0 60 Input ~ 0
IR_VIN_2
Text GLabel 2350 5550 0 60 Input ~ 0
IR_VIN_3
Text GLabel 2350 5650 0 60 Input ~ 0
IR_VIN_4
Text GLabel 2350 5750 0 60 Input ~ 0
IR_VIN_5
Text GLabel 2350 5850 0 60 Input ~ 0
IR_VIN_6
Text GLabel 2350 5950 0 60 Input ~ 0
IR_VIN_7
Wire Wire Line
2350 5250 2550 5250
Wire Wire Line
2350 5350 2550 5350
Wire Wire Line
2350 5450 2550 5450
Wire Wire Line
2350 5550 2550 5550
Wire Wire Line
2350 5650 2550 5650
Wire Wire Line
2350 5750 2550 5750
Wire Wire Line
2350 5850 2550 5850
Wire Wire Line
2350 5950 2550 5950
Wire Wire Line
2350 1400 2550 1400
Wire Wire Line
2350 1500 2550 1500
Wire Wire Line
2350 1600 2550 1600
Wire Wire Line
2350 1700 2550 1700
Wire Wire Line
2350 1800 2550 1800
Wire Wire Line
2350 1900 2550 1900
Wire Wire Line
2350 2000 2550 2000
Wire Wire Line
2350 2100 2550 2100
Text GLabel 7800 1500 2 60 Input ~ 0
OUTA_L
Text GLabel 7800 1600 2 60 Input ~ 0
OUTB_L
Text GLabel 7800 2000 2 60 Input ~ 0
OUTA_R
Text GLabel 7800 2100 2 60 Input ~ 0
OUTB_R
Text GLabel 4250 5100 2 60 Input ~ 0
OUTA_L
Text GLabel 4250 5200 2 60 Input ~ 0
OUTB_L
Text GLabel 4250 5350 2 60 Input ~ 0
OUTA_R
Text GLabel 4250 5450 2 60 Input ~ 0
OUTB_R
Text GLabel 7800 2500 2 60 Input ~ 0
OUTP_ARMMOTOR_L
Text GLabel 7800 2750 2 60 Input ~ 0
OUTP_ARMMOTOR_R
Wire Wire Line
4500 2500 5750 2500
Wire Wire Line
4500 2600 5750 2600
Text GLabel 4250 5600 2 60 Input ~ 0
OUTP_ARMMOTOR_L
Text GLabel 4250 5850 2 60 Input ~ 0
OUTP_ARMMOTOR_R
Text GLabel 7800 2600 2 60 Input ~ 0
OUTN_ARMMOTOR_L
Text GLabel 7800 2850 2 60 Input ~ 0
OUTN_ARMMOTOR_R
Text GLabel 4250 5700 2 60 Input ~ 0
OUTN_ARMMOTOR_L
Text GLabel 4250 5950 2 60 Input ~ 0
OUTN_ARMMOTOR_R
Text GLabel 7800 3000 2 60 Input ~ 0
OUTP_PUMP_TL
Text GLabel 7800 3100 2 60 Input ~ 0
OUTN_PUMP_TL
Text GLabel 7800 3250 2 60 Input ~ 0
OUTP_PUMP_TR
Text GLabel 7800 3350 2 60 Input ~ 0
OUTN_PUMP_TR
Text GLabel 7800 3500 2 60 Input ~ 0
OUTP_PUMP_BL
Text GLabel 7800 3600 2 60 Input ~ 0
OUTN_PUMP_BL
Text GLabel 7800 3750 2 60 Input ~ 0
OUTP_PUMP_BR
Text GLabel 7800 3850 2 60 Input ~ 0
OUTN_PUMP_BR
Wire Wire Line
7750 2500 7800 2500
Wire Wire Line
7800 2600 7750 2600
Wire Wire Line
7750 2750 7800 2750
Wire Wire Line
7800 2850 7750 2850
Wire Wire Line
7750 3000 7800 3000
Wire Wire Line
7800 3100 7750 3100
Wire Wire Line
7750 3250 7800 3250
Wire Wire Line
7800 3350 7750 3350
Wire Wire Line
7750 3500 7800 3500
Wire Wire Line
7800 3600 7750 3600
Wire Wire Line
7750 3750 7800 3750
Wire Wire Line
7800 3850 7750 3850
Wire Wire Line
7750 2100 7800 2100
Wire Wire Line
7800 2000 7750 2000
Wire Wire Line
7750 1600 7800 1600
Wire Wire Line
7800 1500 7750 1500
Wire Wire Line
4500 3000 5750 3000
Wire Wire Line
4500 3100 5350 3100
Wire Wire Line
5350 3100 5350 3250
Wire Wire Line
5350 3250 5750 3250
Wire Wire Line
4500 3200 5250 3200
Wire Wire Line
5250 3200 5250 3500
Wire Wire Line
5250 3500 5750 3500
Wire Wire Line
4500 3300 5150 3300
Wire Wire Line
5150 3300 5150 3750
Wire Wire Line
5150 3750 5750 3750
$Sheet
S 2550 4000 1500 3250
U 57A0BF17
F0 "Sheet_Connectors" 60
F1 "cortex_main_conn.sch" 60
F2 "UART_DBG_TXD" I L 2550 4250 60
F3 "UART_DBG_RXD" I L 2550 4150 60
F4 "ENCB_L" I R 4050 4650 60
F5 "ENCA_L" I R 4050 4550 60
F6 "ENCB_R" I R 4050 4900 60
F7 "ENCA_R" I R 4050 4800 60
F8 "SDA_C" I L 2550 4500 60
F9 "SCL_C" I L 2550 4400 60
F10 "RGB_LEDEN_L" I L 2550 4900 60
F11 "SDA_D" I L 2550 4750 60
F12 "SCL_D" I L 2550 4650 60
F13 "RGB_LEDEN_R" I L 2550 5000 60
F14 "IR_VIN_0" I L 2550 5250 60
F15 "IR_VIN_1" I L 2550 5350 60
F16 "IR_VIN_2" I L 2550 5450 60
F17 "IR_VIN_3" I L 2550 5550 60
F18 "IR_VIN_4" I L 2550 5650 60
F19 "IR_VIN_5" I L 2550 5750 60
F20 "IR_VIN_6" I L 2550 5850 60
F21 "IR_VIN_7" I L 2550 5950 60
F22 "OUTB_L" I R 4050 5200 60
F23 "OUTA_L" I R 4050 5100 60
F24 "OUTB_R" I R 4050 5450 60
F25 "OUTA_R" I R 4050 5350 60
F26 "OUTN_ARMMOTOR_R" I R 4050 5950 60
F27 "OUTN_ARMMOTOR_L" I R 4050 5700 60
F28 "OUTP_ARMMOTOR_L" I R 4050 5600 60
F29 "OUTP_ARMMOTOR_R" I R 4050 5850 60
F30 "OUTN_PUMP_BL" I R 4050 6800 60
F31 "OUTN_PUMP_TL" I R 4050 6300 60
F32 "OUTP_PUMP_TL" I R 4050 6200 60
F33 "OUTP_PUMP_BL" I R 4050 6700 60
F34 "OUTN_PUMP_BR" I R 4050 7050 60
F35 "OUTN_PUMP_TR" I R 4050 6550 60
F36 "OUTP_PUMP_TR" I R 4050 6450 60
F37 "OUTP_PUMP_BR" I R 4050 6950 60
$EndSheet
Wire Wire Line
4050 5950 4250 5950
Wire Wire Line
4250 5850 4050 5850
Wire Wire Line
4050 5700 4250 5700
Wire Wire Line
4250 5600 4050 5600
Wire Wire Line
4050 5450 4250 5450
Wire Wire Line
4250 5350 4050 5350
Wire Wire Line
4050 5200 4250 5200
Wire Wire Line
4250 5100 4050 5100
Wire Wire Line
4050 4900 4250 4900
Wire Wire Line
4250 4800 4050 4800
Wire Wire Line
4050 4650 4250 4650
Wire Wire Line
4250 4550 4050 4550
Text GLabel 4250 6200 2 60 Input ~ 0
OUTP_PUMP_TL
Text GLabel 4250 6300 2 60 Input ~ 0
OUTN_PUMP_TL
Text GLabel 4250 6450 2 60 Input ~ 0
OUTP_PUMP_TR
Text GLabel 4250 6550 2 60 Input ~ 0
OUTN_PUMP_TR
Text GLabel 4250 6700 2 60 Input ~ 0
OUTP_PUMP_BL
Text GLabel 4250 6800 2 60 Input ~ 0
OUTN_PUMP_BL
Text GLabel 4250 6950 2 60 Input ~ 0
OUTP_PUMP_BR
Text GLabel 4250 7050 2 60 Input ~ 0
OUTN_PUMP_BR
Wire Wire Line
4050 6200 4250 6200
Wire Wire Line
4250 6300 4050 6300
Wire Wire Line
4050 6450 4250 6450
Wire Wire Line
4250 6550 4050 6550
Wire Wire Line
4050 6700 4250 6700
Wire Wire Line
4250 6800 4050 6800
Wire Wire Line
4050 6950 4250 6950
Wire Wire Line
4250 7050 4050 7050
$EndSCHEMATC