power supply DCDC&LDO conn master conn slave ADC power led gyro

U$4

+3V3

+3V3
+5V

+5V
BATT_CONNBT2.0 U7

V+
+3V3

V+
MYLSM00502ERPL U$1 J3 J4
+12V

+3V3
4 7 P$1 P$5

LED1
0.47uF
VIN VO IN OUT

GW-12LCP

CS_ADC
SCLK
MOSI
MISO
1 IR_SPL_R 1 1
VAR IC1

C17
2 _IR_SPL_R
10k

C1 P$3 P$4 2

14
13
12
U$2G$2
R1

5 8
EN BYP
3 3
ISM330DHCXTR
SEN_LS

GND
EN GND _SEN_LS
2 22uF C2 C3 4 4

R3 1k
G-PAD

SI3493BDV GND_2

SDA
SCL
CS
+3V3
3 SEN_RS 5 5
GND_3

R24
6 470pF 2.2uF P$1 6 6 _SEN_RS

P$22
P$25
P$21
P$20
P$16
P$14
P$13
P$26
MIC5219

1k
GND_4 P$1
+12V

P$2
P$2 P$2 7 7 GND
U$35 1 SDO/SA0 SDO_AUX 11
CS_GYRO P$3 P$3
8 8 2
SDX OCS_AUX
10
9

V-
MOSI P$4 IR_SPL_L 9 9 3 9 P$1
G_GND

R2
1k
L1 P$4
_IR_SPL_L SCX INT2 P$1

CNVST
DOUT
DIN

REF+
REF-
CS
SCLK

EOC
MISO P$5 SEN_LF P$27 4 8 P$2
G_3V3P$2
P$5 AIN0 INT1 VDD
SCLK P$6 SEN_LS P$28 P$3
G_CS_GYRO
100MHz P$6 AIN1 P$3
C13

V-
SEN_RS P$29 P$4
G_MOSI

GND_1
GND_2
VDDIO
AIN2 P$4
GND2 GND GND GND GND GND SEN_RF P$2 AIN3
P$5
G_MISO
P$5
P$3 AIN4
0.1uF P$6
G_SCLK
P$6
GND P$4
AIN5
P$5 AIN6

DGND
OVDD

5
6
7
P$6

GND
VDD
AIN7

+5V
MCU U1A

LED_R1

LED_R2

LED_R3

LED_R4

LED_L4

LED_L3

LED_L2

LED_L1
STM32L4P5CGU6 C14
1 of 2 MAX11125ATI+

P$24

P$1*9
P$23
P$18*2
4
PC15-OSC32_OUT(PC15) MOT_EN

0.1uF
0.1uF

+3V3
49 6
EPAD PH1-OSC_OUT(PH1)

C18
IRLED_RSLF

U$9
ENC_LA 10 18
PA0 PB0

RUE002N02SC75
GND ENC_LB 11 19
PA1 PB1 LED_L1
SUC 12 20 SPK
PA2 PB2

R25

R26

R27

R28

R29

R30

R31

R32
ADC_BATT 13 21 LED_L2 GND

1k

1k

1k

1k

1k

1k

1k

1k
PA3 PB10 LED_L3
ADC_MOT_R 14 22

47k
R6
PA4 PB11
ADC_MOT_L 15 25 LED_L4
PA5 PB12 LED_R4
ENC_RA 16 26

LED2

LED3

LED4

LED5

LED6

LED7

LED8

LED9
PA6 PB13 LED_R3
ENC_RB 17 27
PA7 PB14 LED_R2
SPK 29 28
PA8 PB15

V+

V+

V+
LED_R1 IR_sen active I_sen passive

+3V3
UART_MISO 30 39

ST-1KL3A

ST-1KL3A

ST-1KL3A

ST-1KL3A
PA9 PB3(JTDO/TRACESWO) SCLK
UART_MOSI 31 PA10 PB4(NJTRST)
40
32 41 MISO GND GND GND GND GND GND GND GND GND
PA11 PB5

U$14

U$15

U$16
33 42 MOSI

U$7
PA12 PB6
SWDIO 34 43 CS_GYRO
PA13(JTMS/SWDIO) PB7

R12

R15
SEN_RS
SWCLK 37 45

SEN_LS

18

18
PA14(JTCK/SWCLK) PB8
CS_ADC 38 46MOT_R_IN1

+5V

+5V
PA15(JTDI) PB9 MOT_L_IN1
IRLED_LSRF 5 PH0-OSC_IN(PH0)

ENC_RB
ENC_RA

ENC_LB
ENC_LA
BOOT0 44 2
PH3-BOOT0 PC13
3 MOT_R_IN2
PC14-OSC32_IN(PC14) MOT_L_IN2

SEN_RF

SEN_LF
+3V3

R17 470 R19 470 _IR_SPL_R _IR_SPL_L

_SEN_RS
PMEG3050EP,115SDO_CFP5_SOD128_NEX-M
+12V

_SEN_LS
1k R20

1k R21

1k R22

1k R23
IR_SPL_R IR_SPL_L

SEN_RF
SEN_LF
U1B
10k STM32L4P5CGU6 R16 470 R18 470
0.1uF

0.1uF 0.1uF
C4

R8 2 of 2
+3V3

7 NRST
C23 C24
1

V- BSR802NL6327HTSA1

V- BSR802NL6327HTSA1
VBAT
4
3
2
1

4
3
2
1
47k

V-
24 GND GND

U$12

U$13
R4

VDD_2
48 GND
VDD
9 ADC_BATT
VDDANREF+
J5

J6
C19 C20 C21 C22 36 VDDUSB

IRLED_LSRF

IRLED_RSLF
0.1uF
0.1uF0.1uF
0.1uF 23 VSS_2 P$4
P$4
SWCLK
10k

35 SWDIO P$3
R5

VSS_3 P$3

R14
R11
47k

47k
47 P$5
VSS P$5 UART_MISO
8 P$2
UART_MOSI
VSSA/VREF- P$2
GND P$6
P$6
GND2 BOOT0 P$1 P$1
GND
GND GND GND

P$13*2

P$5
+12V

+12V

motor drive
FT234XD
P$1
P$1 P$1
P$1_GND
P$1
P$1__GND 0.1uF 0.1uF

5.1k

5.1k
1k R33

R10

R13
P$2 A4_B9

P$6
GND2

GND1
C15 C16

U$24
P$11
LXES11DAA2-137 B4_A9
BOOT0 P$1 P$1_BOOT0P$1 P$1__BOOT0 P$6 P$2 P$4
P$1 P$1 P$1 P$1 CBUS0 RESET# A5
C5 C6 C7 C8 C9 C10 C11 C12 P$2
P$2
P$10
B5

P$6
P$3 P$12 P$5 P$1 P$6

IRLML6344TRPBFIRLML6344TRPBF_INF-L
P$3 USBDP P$5 P$1 A6
22uF22uF22uF22uF 22uF22uF22uF22uF UART_MOSI P$1 P$1 P$1
P$1_UART_MOSI
P$4
P$4 P$1
P$1__UART_MOSI
P$11
CTS# USBDM
P$1 P$8
B6
+12V

+12V

P$5 P$8 P$4 P$2 P$7

+5V

OUT ADC_MOT_R+5V

P$5 RTS# P$4 P$2 A7

P$3
P$10 P$5

LED10
VCCIO
RXD B7
+12V
ADC_MOT_L

UART_MISO P$1 P$1_UART_MISO P$1__UART_MISO

P$7 P$3 P$9

VCC
P$1 P$1 P$1 TXD 3V3OUT A8
GND2 GND2 P$3
U$25 B8

P$3
P$1
A1_B12
GND U$26 P$12
B1_A12
P$2

U$28

P$9

P$4
P$13*8
AD8418AWBRMZRM_8_ADI-L

AD8418AWBRMZRM_8_ADI-L

L_1608 GND
8
7
6
5

8
7
6
5

MOTOR3

P$1 P$2
U2 U4
1 2
CR1

MP6551GQB-P MP6551GQB-P U$27

5077CR-16SMC2-BK-TR
M
OUT
VREF1
VS

VREF1
VS
+IN

+IN

MF-FSMF035X-2
P$1

P$1

P$1

1 14 MOT_EN 1 14 MOT_EN
OUT1_2 EN1 OUT1_2 EN1
MOTOR2

2 13 MOT_L_IN1 2 13 MOT_R_IN1
VIN IN1 VIN IN1
3 12 3 12
2 1

2 1

M M
U6

OUT2_2 NFAULT OUT2_2 NFAULT

4 11 4 11
U3

U5

EN2 CM1 EN2 CM1

5
MOT_L_IN2 10 5
MOT_R_IN2 10 SUC
IN2 OUT1 IN2 OUT1
P$2

P$2

6 9 6 9
VREF2

VREF2

SR GND SR GND
7 8 7 8
GND

GND

47k
R9

CM2 OUT2 CM2 OUT2

NC

NC
-IN

-IN

R34
R7
1
2
3
4

1
2
3
4

GND2 GND2
GND2
GND GND