Stellaris LM3S9B92 EVALBOT Robotic Evaluation Board User's
Contents
1. 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 CAT93CA6YI G IC Serial Eeprom 1Kbit TSSOP8 Catalyst Atmel AT93C46A 10TU 2 7 47 Y1 1 NX5032GA 25 00000 Crystal 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 Y3 1 NX5032GA Crystal 16 00MHz 5 0x3 2mm SMT tbd 16 000000MHZ 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 Tl 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 Tl 59 U11 1 TS3USB30EDGSR IC High Speed USB 2 0 1 2 Mux Demux Tl 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 tr2. 12 cocta tu aiiud iEn E AE apuka aaa IL dr IDEE 12 USB uu A LIEU lia iii ia uo 13 Roboti Features ntete ibo pepe etd DE ende P ebat egre Pet as taya 13 P 13 DebUQGING uum a PIE omes etica E 13 Appendix A amp lt alii aeneon 15 Appendix B Component 21 Appendix C Bill of Materials 23 Appendix D References J cene nun eno linee 27 March 19 2011 3 List of Figures Figure 1 1 Stellaris amp LM3S9B92 EVALBOT Robotic Evaluation 7 Figure 1 2 EVALBOT Block Diagram Figure B 1 EVALBOT Component Locations March 19 2011 List of Tables Table 1 1 Table 2 1 Table 2 2 Table C 1 EVALBOT Specifications ee a e dee i pace ud dett eel 10 EVALBOT Power 12 Connector Part NumbErs ii 13 EVALBOT Bill of Materials BOM itte rte ertt n a e eret ecu e d Edd 23 March 19 2011 Stellaris LM3S9B92 EVALBOT User s Manual 6 March 19 2011 CHAPTER 1 Board Overview The Stellaris LM3S
3. ENC LED PWR RIGHT WHEEL ENCODER 3 3V R57 2 7K RR D11 3 3V Q4 2 APA3010P3BT APECVA3010F3C Infrared Infrared RR D12 3 3V APECVA3010F3C Infrared i Q5 1 APA3010P3BT 2 Infrared gt R_QEI_A gt R_QEI_B LEFT WHEEL ENCODER 02 HS R3 MW 120 APECVA3010F3C Infrared mR 03 HE Q6 BSS123LT1 SLOW DECAY z MODE MODE2 PHASE_R PHASE PWM_R ENABLE SLEEP FAULT lt VPROPI MFAULT PHASE L PWM L gt MOTOR DRV8801RT CP2 MODEI MODE2 PHASE ENABLE SLEEP FAU VPROPI OUT MOTOR R gt MOTOR 1 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 1u yg y o cus s s a MOTOR gt wO MOTOR L Dr c4 o MOTOR_L Oy 13 2 DF13C 2P 1 25V BUMPER SWITCHES Sw3 o o gt BUMP L ESE 22MH22 gu ae DESIGNER REVISION JAG A ESE 22MH24 DATE 10 25 2010 PROJECT STELLARIS EVALBOT A1 MOTOR EVALBOT
4. RF UART RX ASDA ASCL RF UART TX RF I2C SDA RF I2C SCL RF SDIO CLK RF SDIO CMD VSS 2 RF SPI MISO RF SPI MOSI RF SDIO DO RF SDIO D1 RF SDIO D2 P RF_SDIO_D3 RF_GPIO0 GD00 RE RF RE SPI CLK SPI MOSI SPI MISO RF GPIO1 GDO2 RF SPI CSn RF SPI RF SPI MOSI RF SPI MISO VDD2 1 8V OPTION VDD2 1 8V OPTION VDD2 1 8V OPTION VDD1 3 3V VDD1 3 3V BT FM AUD I2S FS RF GPIO2 gt RF CC RSTN BT FM AUD 125 CLK RF WCS NSHUTD vss ANA AUDIO FM LEFT ANA AUDIO FM RIGHT BT FM AUD I25 DX BT FM AUD I25 RX USBM lt USBP NC DVBUS C59 16 18 RF UART RTS 55 _ RF UART RTS RF GPIO3 CONNECTOR 1 EM CONNECTOR 2 10 100 BASET ETHERNET DESIGNER JAG REVISION D ATE A 10 25 2010 PROJECT TEXAS INSTRUMENTS STELLARIS MICROCONTROLLERS 108 WILD BASIN ROAD SUITE 350 AUSTIN TX 78746 GND ege STELLARIS EVALBOT DESCRIPTION MCU Ethernet USB Ordering www ti com stellaris STELLARI S MI CROCONTROLLER FILENAME PART NO EvalBot Rev A sch EK EVALBOT A
5. De b gt USER SW1 gt DESIGNER REVISION DATE usen sua JAG 1038 9905 TEXAS INSTRUMENTS PROJECT STELLARIS 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 3 3V 150mA Logic Supply U10 DVBUS TLV70033DDC R63 IN OUT EN NC OMIT GND d ICDI_VBUS See LM3S9B92 Errata t U16 TLV70012DDC IN OUT c63 3 lu 3 STAT Tour 16V 3 3V 150mA CODEC Analog Supply EN NC EN UG GND VSNS TLV70033DDC 2 ILIM GND IN OUT TPS2113 3 EN NC GND 2 TARGETRST When enabled Power Mux Selects higher of IN1 or IN2 1 8V 25mA CODEC Logic Supply On Reset DIO BAS40 05 ji D10 TLV70018DDC SW6 i m 5 iH IN OUT o 3 EN NC GND 2 Q3 BSS123LTl 5V 100mA USB Supply T Supply must be enabled for Host and Device modes 014 VLF4012AT 4R7M1R1 TPS61073DDC 3 o sw VOUT gt 5V_HVBUS SWS 4 7uH E 6 N OI ex vBAT Power Off 3 EN_VBUS EN _ C64 10V 5mA OLED Supply 10UF 16V R51 ur 10
6. MHI MH2 E m 2 MOTOR EVALBOT MHI MH2 a Size 4 Mounting Hole AQ 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 DISPLAY T3 V 3 3V AUDIO CODEC AND AMPLIFIER U4 TLV320A1C3107 SCL SPOP SDA SPOM MCLK SWINP BCLK SWINM WCLK SWOUTP DIN SWOUTM AST 01508MR R DOUT MICDET LINEILM LINEILP HPCOM LINEIRP HPLOUT MIC3L LINEIRM HPROUT LINE2LP 4 OLED_RST LINE2RP LINE2LM S MIC3R LINE2RM WR H23 1 MICBIAS RD OLED SCL DO SCL RESET LEFT_LOP OLED_SDA DI SDA H24 10 7 GPIOI RIGHT LOP D2 3 3VA 3 3VA 3 3VA 18 OVDD T T DRVDD2 DRVDDI 25 SPVDD AVDD AVDD DAC DVDD OLED RIT P13701 microSD CARD INTERFACE 3 3V 3 3V TP13 P10 11 12 R24 R23 1 10K 10K microSD card connector SMT x 1 cs DI VDD CLK vss DO RSV SDCS SDMOSI SDCLK SDMISO STATUS LEDS USER SWITCHES gg
7. 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 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 de
8. 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 14 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 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 March 19 2011 Schematics Schematics for the EVALBOT board follow Microcontroller Ethernet and USB on page 16 Wheel Encoders Motor Drivers and Bumper Switches on page 17 User Interface Audio SD Card on page 18 Power Supplies on page 19 In Circuit Debug Interface on page 20 March 19 2011 15 3 3V TARGET RXD Ul PAO UORX TARGET_TXD SDCLK SDCARD BUMP R BUMP L R QEL A L ENC LED PWR H2 1 n PAI UOTX PA2 SSIOCLK PB2 I2COSCL PB3 I2COSDA PB6 I2SOTXSCK PE4 I2S0TXWS PES DSOTXSD PFI IDSOTXMCLK PD4 DSRXSD PCO TCK SWCLK PCI TMS SWDIO PC2 TDI PC3 TDO SWO PEO EPIOS8 PEL EPIOS9 PE2 PHAO PE3PHAI PEG PE7 OLED
9. 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 1 0603 Generic 23 R19 R22 2 Resistor 27 ohms 5 0603 Generic 24 R1 2 R57 58 4 Resistor 4 7K 5 0603 Generic 25 R13 1 Resistor 22 6K 1 0603 Generic 26 R14 R18 R23 24 12 Resistor 10K 5 0606 Generic R36 R40 R44 45 R49 R60 62 27 R39 1 Resistor 9 10K 1 0603 Generic 28 R21 R25 2 Resistor 1 0M 1 0603 Generic 29 R26 R53 2 Resistor 137K 1 0603 Generic 30 R29 1 Resistor 12 4K 1 0603 Generic 31 R5 R64 2 Resistor 10 ohms 5 0603 Generic 32 R31 33 R35 R43 5 Resistor 49 9 ohms 1 0603 Generic 33 R3 4 R54 55 4 Resistor 120 ohms 1 0603 Generic 34 R10 R12 R38 3 Resistor 0 ohms 0603 Generic 35 R16 17 R34 R37 6 Resistor 1K 5 0603 Generic R47 R63 36 R7 R59 2 Resistor 1 5K 5 0603 Generic 37 R15 R20 R30 R41 6 Resistor 330 ohms 5 0603 Generic R48 R50 38 R56 1 Resistor 1 30M 1 0603 Generic 39 R6 1 Resistor 47K 5 0603 Generic 40 R8 R27 28 3 Resistor 200K 1 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 24 March 19 2011 Table C 1 EVALBOT Bill of Materials BOM Continued
10. RST LED1 LED2 OLED_SCL PGO DCISCL OLED SDA PGI DCISDA L QEI B PG7 PHB1 H3 1 14 87 PJO H4 1 H5 1 39 H6 1 50 PJ2 5 PJ3 H7 1 H8 1 53 PJ4 H9 1 4 PIS H10 1 55 PJ6 PIT RESETN XTALNPHY XTALPPHY OSCO OSCI ERBIAS NC GNDI GND2 GND3 GND4 GNDS GND6 PBI USBOVBUS PA6 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 5V_HVBUS EN_VBUS 4 RF GPIOO RF GPIOl 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 PWM_L PHASE_L USB HOST J7 CON USB A SMT USB DEVICE 16 CON USB MINI B 5V D D ID G rra 5V_HVBUS ARLE i Utt DEVICE HOST 3 3V c53 GND 0 1UF TS3USB30EDGS RF UART CTS WIRELESS EM SOCKET J5 133 vss RF_UART_CTS RF_SLOW_CLK 32K
11. Stellaris LM3S9B92 EVALBOT User s Manual Specifications 10 Table 1 1 shows the specifications for the EVALBOT Table 1 1 EVALBOT Specifications Battery Supply Voltage 3 5V 4 5 V 5 0 V USB Supply Voltage 4 0 V 5 0 V 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 Battery Protection No Allowable Battery USB Current 0 5A a From Energizer E91 data sheet March 19 2011 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 E
12. 0K TPS71501DCK ce Lic AUF IN OUT NC FB 2 1 VLF4012AT 4R7M1R1 4 7uH U9 12V 100mA Motor Supply TPS61085 D4 IN sw bel EN 12 EN FB BAT AA KEYELCO 1028 BAT AA KEYELCO 1028 FREQ COMP cz 10UF 16V GND SS BAT AA KEYELCO 1028 DESIGNER REVISION DATE JAG A 10 25 2010 TEXAS INSTRUMENTS PROJECT STELLARIS MICROCONTROLLERS Chassis GND to Logic GND connection STELLARIS EVALBOT 108 WILD BASIN ROAD SUITE 350 R38 AUSTIN TX 78746 DESCRIPTION www ti com stellaris Power Supplies FILENAME PART NO EvalBot Rev A sch EK EVALBOT A 13 74LVC125ARGY 11 TCK SWCLK 74LVC125ARGY ICDI USB 13 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 ET_TDO DO ADBUS3 ET TMS OUTEN Fi TMS SWDIO USBDM ADBUS4 U20 A 74LVC125ARGY ADBUSS FT SRSTN USBDP ADBUS6 13 74LVC125ARGY ADBUS7 acBuso H il ACBUS1 ACBUS2 ACBUS3 k 4 SI WUA vcc 74LVC126A QFN een Na BpBuso 40 V
13. 1300 OLED Controller Data Sheet from Solomon Systech Limited 27 Stellaris LM3S9B92 EVALBOT User s Manual 28 March 19 2011
14. 3S9B92 IQC80 microcontroller MicroSD card connector 125 audio codec with speaker USB Host and Device connectors RJ45 Ethernet connector Bright 96 x 16 Blue OLED display On board In Circuit Debug Interface ICDI Battery power 3 AA batteries or power through ICDI USB cable NOTE EVALBOTS with serial numbers less than 50910 1500 do not support using the ICDI USB connector as a power source During debugging either install batteries or connect the USB device connector to a power source B Wireless communication expansion port M 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 9 shows a block diagram of the electrical section of the EVALBOT 8 March 19 2011 Figure 1 2 EVALBOT Block Diagram 000000000000000 I O Signal 96 16 OLED I Graphics display Bump Sensors Speaker Right side Motor Left side Motor Wheel Sensors USB for ICDI In Circuit Debug Interface and Virtual COM Port March 19 2011
15. 9B92 EVALBOT 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 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 LM3S9B92 EVALBOT Robotic Evaluation Board 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 m Mechanical components assembled by user March 19 2011 7 Stellaris LM3S9B92 EVALBOT User s Manual Stellaris amp LM
16. ALBOT 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 for audio CODEC 5V_HVBUS 5 25 V 100 mA USB Host power supply 12V 12V 100 mA Motor driver power supply 10V 10 V 5mA 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 I C interfaces In this design the 1 C 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 removin
17. CP TARGETRST RS BDBUS1 L39 VCP TX_SW GND BDBUS2 BDBUS3 CAT93C46 BDBUS4 SWO EN BDBUS5 BDBUS6 z2 BDBUS7 74LVC126A QFN BCBUSO 8 TDO SWO BCBUS1 BCBUS2 BCBUS3 57 SI WUB PWREN 74LVC125ARGY VCC VCC VCCIOA VCCIOB AVCC VCP_TXD Papapas 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 10 25 2010 T TEXAS INSTRUMENTS PROJECT ll STELLARI S MICROCONTROLLERS o 3 Si M STELLARIS EVALBOT 108 WILD BASIN ROAD SUITE 350 C42 10BSA1 G AUSTIN TX 78746 ar DESCRIPTION of o o1 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 March 19 2011 RIGHT BUMPER OUTER WHEEL 1 o EVALBOT Component Location
18. VALBOT 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 The EVALBOT uses a 16 0 MHz crystal Y3 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 provides an accurate timebase for the Ethernet PHY Reset 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 W 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 March 19 2011 11 Stellaris LM3S9B92 EVALBOT User s Manual Table 2 1 shows the EV
19. g 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 0 05 pitch Ethernet 12 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 March 19 2011 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
20. i 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 March 19 2011 25 Stellaris LM3S9B92 EVALBOT User s Manual 26 March 19 2011 References In addition to this document the following references are available for download at www ti com March 19 2011 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 SSD
21. or 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 5 Ceramic Kemet C42 C45 C47 C51 NPO COG 0603 C60 7 C20 C32 2 C0603C270J5GACTU Capacitor 27pF 50V 596 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 S812 Diode Schottky 20V 1A 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 March 19 2011 23 Stellaris amp LM3S9B92 EVALBOT User s Manual Table C 1 EVALBOT Bill of Materials BOM Continued 17 J8 J13 2 DF13C 2P 1 25V 20 Connector Header 2 pos 1 25mm SMD
22. otellaris amp LM3S9B92 EVALBOT Robotic Evaluation Board User s Manual Xi TEXAS INSTRUMENTS EK EVALBOT UM 00 Copyright O 2011 Texas Instruments Copyright Copyright O 2011 Texas Instruments Inc All 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 LS usss Cort tex Intelligent Processors by ARM Aci 2 2 March 19 2011 Table of Contents rum B OreEelIlq 7 Eeatules eost denter S Lat e SUN ttl eus ni ete ILLA SL oli de L 7 Block iDiagrami au siete estet m id e ae e e i 8 SPCCHICALIONS eae PN 10 Chapter 2 Hardware Description asss 11 EMSS9B92 Miel conirollepu ica Laici iii 11 GIOCKING Phe istos s 11 acl MC MAUI EI MITTUNT E 11 Power SUPPIIES i EK EE 11 Organic LED Display s itea ice rp tee eins cit ad ee dh wettest heed deae 12 microSD GARD a Leiden tee adio co dud ad adapt 12 A00102 1
23. s MOTOR PLATE RI6 RIT INNER WHEEL 1 INNER WHEEL 2 ON RESET 3 amp K Wr LEFT J23l09J11M162 ex 18122424102 MOTOR ia at KER 44 3 3v w OO s ZIF us Rit 15 875 5 runs ut uie pas 026 a 102 dp 7 E PILLE Er 1 o ACTIVE RS oDi B 8 gees Sent Ou pest 28 CH 002 CH ce 5655 EE R29 835 1042 045 R30 8058 ECHO RM R37 RAZ MOTOR PLATE LEFT BUMPER esp SWITCH 2 x mimo 9 Rs RIGHT 48 a ap MOTOR He PH3 J27 RAS J8 p21 i35 az cum PB O 092 1041 gl RSTn J42 ri wO 5 m dS roo 3 HS sf R38 e iso PH6 Lido Og ria on pI OUTER WHEEL 2 OUTER WHEEL 4 FEATURING THE STELLARIS LM3S9B92 MICROCONTROLLER 21 Stellaris LM3S9B92 EVALBOT User s Manual 22 March 19 2011 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 Capacit
24. velopment 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 port synchronous serial on channel A and a Virtual COM Port VCP on channel B This feature March 19 2011 13 Stellaris LM3S9B92 EVALBOT 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
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