commit 6656a3cd4e245768734e1bd439dc608124ce2a75 Author: Upstream Snapshot Date: Fri Aug 28 15:42:01 2026 +0800 Import upstream snapshot 23eab11927f95ceca0dfa35bf182caeb7db39ea0 Upstream: https://github.com/pollen-robotics/elec_RPI_Robot_HAT Upstream-Commit: 23eab11927f95ceca0dfa35bf182caeb7db39ea0 Upstream-Branch: main diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..3db9d2b --- /dev/null +++ b/.gitignore @@ -0,0 +1,33 @@ +# Pollen-specific +#fab/ +fab/.old/* +#production/ +fabrication-toolkit-options.json + +# Temporary files +*.000 +*.bak +*.bck +*.kicad_pcb-bak +*.kicad_sch-bak +*-backups +*.kicad_prl +*.sch-bak +*~ +_autosave-* +*.tmp +*-save.pro +*-save.kicad_pcb +fp-info-cache + +# Netlist files (exported from Eeschema) +*.net + +# Autorouter files (exported from Pcbnew) +*.dsn +*.ses + +# Exported BOM files +*.xml +#*.csv + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..a8e6eb6 --- /dev/null +++ b/README.md @@ -0,0 +1,18 @@ +# "RPI_Robot_HAT" Electronic Board + +> "RPI_Robot_HAT" is a raspberry pi HAT designed for small/medium size robots. It has an IMU, Dynamixel connectors and audio. Its size fits a Raspberry PI zero. + +3d view + +The RPI_Robot_HAT gathers: + +- **IMU** over I2C +- **Dynamixel motor communication**: both TTL and 485 to drive Dynamixel/Feetech motor (requires cable adaptation) +- **in/out audio device** with an integrated mems microphone. Wago connectors allows connection of loudspeaker and extra microphone. +- **expension Qwiic connectors**, 1 mm/3V3. Please refer to the schematic for knowing which can be use on you raspberry pi. + +The RPI_Robot_HAT can be power from 5 to 28V. It is designed to use of the motor connector as an power input. + + +## Basically + - Designed with KiCAD 9. diff --git a/audio.kicad_sch b/audio.kicad_sch new file mode 100644 index 0000000..0af71db --- /dev/null +++ b/audio.kicad_sch @@ -0,0 +1,18010 @@ +(kicad_sch + (version 20250114) + (generator "eeschema") + (generator_version "9.0") + (uuid "ec46457d-181a-4ab9-a2b7-428aada33329") + (paper "A4") + (title_block + (title "elec RPI Robot HAT") + (date "2026-05-06") + (rev "B1") + (company "Pollen Robotics / Hugging Face") + ) + (lib_symbols + (symbol "Amplifier_Audio:PAM8406D" + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (property "Reference" "U" + (at -12.7 -15.24 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "PAM8406D" + (at -10.16 -17.78 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "Package_SO:SOIC-16_3.9x9.9mm_P1.27mm" + (at 0 0 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property 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See link above for details + +# Uncomment some or all of these to enable the optional hardware interfaces +dtparam=i2c_arm=on +dtparam=i2s=on +dtoverlay=tlv320aic3104 +dtparam=spi=on + +# Enable audio (loads snd_bcm2835) +dtparam=audio=off + +# Additional overlays and parameters are documented +# /boot/firmware/overlays/README + +# Automatically load overlays for detected cameras +camera_auto_detect=1 + +# Automatically load overlays for detected DSI displays +display_auto_detect=1 + +# Automatically load initramfs files, if found +auto_initramfs=1 + +# Enable DRM VC4 V3D driver +dtoverlay=vc4-kms-v3d +max_framebuffers=2 + +# Don't have the firmware create an initial video= setting in cmdline.txt. +# Use the kernel's default instead. +disable_fw_kms_setup=1 + +# Run in 64-bit mode +arm_64bit=1 + +# Disable compensation for displays with overscan +disable_overscan=1 + +# Run as fast as firmware / board allows +arm_boost=1 + +[cm4] +# Enable host mode on the 2711 built-in XHCI USB controller. +# This line should be removed if the legacy DWC2 controller is required +# (e.g. for USB device mode) or if USB support is not required. +otg_mode=1 + +[cm5] +dtoverlay=dwc2,dr_mode=host + +[pi02] +dtparam=i2c_arm_baudrate=100000 + +[all] +enable_uart=1 diff --git a/docs/eval - PAM8406-User-Guide.pdf b/docs/eval - PAM8406-User-Guide.pdf new file mode 100644 index 0000000..d82c625 Binary files /dev/null and b/docs/eval - PAM8406-User-Guide.pdf differ diff --git a/docs/eval - tlv320aic3104 - slau218a.pdf b/docs/eval - tlv320aic3104 - slau218a.pdf new file mode 100644 index 0000000..9a0bcac Binary files /dev/null and b/docs/eval - tlv320aic3104 - slau218a.pdf differ diff --git a/docs/hat-plus-specification.pdf b/docs/hat-plus-specification.pdf new file mode 100644 index 0000000..3f1ee84 Binary files /dev/null and b/docs/hat-plus-specification.pdf differ diff --git a/docs/img/elec_RPI_Robot_HAT.png b/docs/img/elec_RPI_Robot_HAT.png new file mode 100644 index 0000000..c306a76 Binary files /dev/null and b/docs/img/elec_RPI_Robot_HAT.png differ diff --git a/docs/part - AP63205.pdf b/docs/part - AP63205.pdf new file mode 100644 index 0000000..2ff2286 Binary files /dev/null and b/docs/part - AP63205.pdf differ diff --git a/docs/part - BMI088.pdf b/docs/part - BMI088.pdf new file mode 100644 index 0000000..e3b1935 Binary files /dev/null and b/docs/part - BMI088.pdf differ diff --git a/docs/part - CAT24C32 - C233772.pdf b/docs/part - CAT24C32 - C233772.pdf new file mode 100644 index 0000000..8969c33 --- /dev/null +++ b/docs/part - CAT24C32 - C233772.pdf @@ -0,0 +1,6463 @@ +%PDF-1.4 +%öäüß +1 0 obj +<< +/Type /Catalog +/Version /1.6 +/Pages 2 0 R +/PageLabels 3 0 R +/Metadata 4 0 R +>> +endobj +5 0 obj +<< +/Author (onsemi) +/CreationDate (D:20220823093745-07'00') +/Creator (BroadVision, Inc.) +/Keywords () +/ModDate (D:20220823094009-07'00') +/Producer (Acrobat Distiller 22.0 \(Windows\)) +/Subject <546865204341543234433332206973206120454550524F4D2053657269616C2033328A4B622049324320646576696365732C20696E7465726E616C6C790A6F7267616E697A6564206173203430393620776F726473206F662038206269747320656163682E0A497420666561747572657320612033328A6279746520706167652077726974652062756666657220616E6420737570706F72747320746865205374616E646172640A28313030206B487A292C20466173742028343030206B487A2920616E6420466173748A506C7573202831204D487A29204932432070726F746F636F6C2E0A45787465726E616C20616464726573732070696E73206D616B6520697420706F737369626C6520746F206164647265737320757020746F2065696768740A43415432344333322064657669636573206F6E207468652073616D65206275732E> +/Title (CAT24C32 - EEPROM Serial 32-Kb I2C) +>> +endobj +2 0 obj +<< +/Type /Pages +/Kids [6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R 13 0 R 14 0 R 15 0 R +16 0 R 17 0 R 18 0 R 19 0 R 20 0 R] +/Count 15 +>> +endobj +3 0 obj +<< +/Nums [0 21 0 R 9 22 0 R 10 23 0 R 11 24 0 R 12 25 0 R +13 26 0 R 14 27 0 R] +>> +endobj +4 0 obj +<< +/Length 4006 +/Subtype /XML +/Type /Metadata +>> +stream + + + + + 2022-08-23T09:37:45-07:00 + BroadVision, Inc. + 2022-08-23T09:40:09-07:00 + 2022-08-23T09:40:09-07:00 + Acrobat Distiller 22.0 (Windows) + + application/pdf + + + CAT24C32 - EEPROM Serial 32-Kb I2C + + + + + onsemi + + + + + The CAT24C32 is a EEPROM Serial 32−Kb I2C devices, internally organized as 4096 words of 8 bits each. 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(effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "431b89f6-ffc2-41ab-b0c5-a329f18026f2") + ) + (text "Cabled buses on Raspberry PIs\n - PI zero 2W:\n - I2C0 ( pin 27/28 ID_SD/C): reserved, but can be on J6 with 0R\n - I2C1 (IO 2/ 3 - pin 3/ 5 SDA/SCL): IMU + Audio + Qwiic J5\n - PI 4:\n - same I2C0/1\n - I2C3 (IO 4/ 5 - pin 7/29 SDA/SCL): Qwiic J6\n - I2C4 (IO 8/ 9 - pin 24/21 SDA/SCL): Qwiic J7\n - I2C5 (IO 10/11 - pin 19/23 SDA/SCL): Qwiic J8\n - PI 5:\n - same I2C0/1\n - I2C2 (IO 2/ 3 - pin 3/ 5 SDA/SCL): Qwiic J5" + (exclude_from_sim no) + (at 181.102 57.912 0) + (effects + (font + (face "Liberation Mono") + (size 1.5 1.5) + (bold yes) + ) + (justify left bottom) + ) + (uuid "573da85b-985d-4719-aad6-0916966dd1a9") + ) + (text "08/07/2026" + (exclude_from_sim no) + (at 39.37 82.55 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "5d83b158-1623-4a3c-b138-019eab175c02") + ) + (text "EB" + (exclude_from_sim no) + (at 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+ (justify left bottom) + ) + (uuid "8871bca3-55b7-4e24-a38f-cc9e184422ab") + ) + (text "\"RPI_Robot_HAT\" is a raspberry PI HAT designed for small/medium \nsize robots. It has an IMU, Dynamixel connectors and audio. Its\ndimensions fits a raspberry PI zero" + (exclude_from_sim no) + (at 19.304 27.686 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "ac9667d7-cd1e-4c91-8948-647041f3fcde") + ) + (text "Designer" + (exclude_from_sim no) + (at 62.23 38.1 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "b088e14a-2a87-440c-a033-f65020b82725") + ) + (text "Cabled GPIOs on the 40-way Header:\n - GPIO00/01: HAT identification over I2C (reserved)\n - GPIO02: IMU + Audio + Stemma/QT - SDA\n - GPIO03: IMU + Audio + Stemma/QT - SCL\n - GPIO04: Stemma/QT - SDA\n - GPIO05: Stemma/QT - SCL\n - GPIO06: Switch off detection\n - GPIO07\n - GPIO08: Stemma/QT - SDA\n - GPIO09: Stemma/QT - SCL\n - GPIO10: Stemma/QT - SDA\n - GPIO11: Stemma/QT - SCL\n - GPIO12\n - GPIO13:\n - GPIO14: Dynamixel - UART_Tx\n - GPIO15: Dynamixel - UART_Rx\n - GPIO16\n - GPIO17\n - GPIO18: Audio, PCM Clk\n - GPIO19: Audio, PCM FS\n - GPIO20: Audio, Din\n - GPIO21: Audio, Dout\n - GPIO22: IMU_IT\n - GPIO23\n - GPIO24\n - GPIO25\n - GPIO26\n - GPIO27\n" + (exclude_from_sim no) + (at 182.372 154.686 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "d193b307-c435-42ea-9e27-3882764c5d73") + ) + (text "SN" + (exclude_from_sim no) + (at 78.74 82.55 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "d527d15a-a301-4258-ad5c-e5bcb9c19a75") + ) + (text "B1" + (exclude_from_sim no) + (at 19.05 50.8 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "e1a593cc-7001-4d88-90e4-dc654a546da5") + ) + (text "SN" + (exclude_from_sim no) + (at 78.74 44.45 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "f4723e2a-7a83-4da7-82f6-af7550fc504a") + ) + (text "Comments" + (exclude_from_sim no) + (at 92.71 38.1 0) + (effects + (font + (size 2.0066 2.0066) + ) + (justify left bottom) + ) + (uuid "f5d00bcc-eabe-48dd-9739-479bfa89e1ef") 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1.27 1.27) + ) + (justify left) + ) + ) + (property "Footprint" "" + (at 57.15 69.85 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "" + (at 57.15 69.85 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "Power symbol creates a global label with name \"+BATT\"" + (at 57.15 69.85 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (pin "1" + (uuid "e4f908ab-257d-49e5-bab0-ef76fb481920") + ) + (instances + (project "elec_RPI_Robot_HAT" + (path "/bc05f5da-608c-4912-90e4-36b13d989976/d25b6afa-8f8a-4256-aaa0-d06d8816c749/1eed69e4-1e3f-4f08-b497-d13d201c1e05" + (reference "#PWR096") + (unit 1) + ) + ) + ) + ) +) diff --git a/production/ASE01187-C1_elec_RPI_Robot_HAT_BOM.csv b/production/ASE01187-C1_elec_RPI_Robot_HAT_BOM.csv new file mode 100644 index 0000000..f41c0f8 --- /dev/null +++ b/production/ASE01187-C1_elec_RPI_Robot_HAT_BOM.csv @@ -0,0 +1,48 @@ +Designator,Footprint,Quantity,Value,LCSC Part # +"C1, C10, C2, C27, C29, C3, C31, C33, C35, C4, C40, C41, C42, C43, C6",0402,15,1u,C52923 +"C11, C14, C15, C16, C17, C18, C26, C28, C30, C32, C36, C38",0402,12,100n,C307331 +"C12, C13, C37, C5, C7",0603,5,10u,C1691 +C19,CP_Elec_6.3x7.7,1,10u 63V,C72488 +C20,0402,1,100n 50V,C307331 +"C21, C22",0603,2,22u 6V3,C84419 +"C23, C24, C39",0402,3,100n 6V3,C1525 +C25,0402,1,DNP-100n, +"C34, C44",0402,2,10n,C15195 +"C8, C9",0402,2,220n,C71693 +D1,SOT-323_SC-70,1,BAT54W,C78606 +D2,D_SOD-123,1,3V3 Zener Diode,C19077392 +D4,D_SOD-323,1,5V1,C151348 +FB1,0402,1,1.3A 600R@100MHz,C76884 +"FB2, FB3",0402,2,2A - 120R@100MHz,C88970 +H2,Logo_HF_2025,1,Logo HF 2025, +"J1, J2, J9",Wago_2059-302_998-403,3,Wago-2,C2765060 +"J11, J3",JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical,2,Dynamixel-4,C160258 +"J13, J14",JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical,2,Dynamixel-3,C160259 +J4,PinHeader_2x20_P2.54mm_Vertical_with_rasp_HAT_zero_SMD_connector,1,Female Header 2x20 SMD,C2685112 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