A-Star 32U4 Robot Controller with Raspberry Pi Bridge ... · with Raspberry Pi Bridge Pinout and...
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Ground (0 V) AVR I/O pin names Power distribution Arduino digital pin numbers AVR ADC channels Arduino analog pin numbers USART I 2 C SPI Interrupts JTAG Other peripheral functions On-board hardware PWM outputs (Arduino analogWrite) OC3A / OC4A OC4D OC4A PB3 PB1 PB2 PB0 PD5 PF0 PF1 PF4 PF5 PF6 PF7 PE2 14 15 16 17 23 22 21 20 19 18 0 1 2 3 4 5 6 7 8 9 10 11 12 13 PD2 PD3 PD1 PD0 PD4 PC6 PD7 PE6 PB4 PB5 PB6 PB7 PD6 PC7 RXD1 TXD1 SDA SCL ADC8 ADC10 AIN0 ADC11 ADC12 ADC13 RTS ADC9 SDA to RPi SCL to RPi Yellow LED INT2 INT3 INT1 INT0 Motor 1 direction MISO SCK MOSI SS XCK1 / CTS Button A Button C Button B Motor 2 direction Red LED (RXL) Green LED (TXL) Motor 1 PWM Motor 2 PWM A6 A7 A8 A9 A10 A11 OC0B OC1A / OC4B OC1B / OC4B OC0A / OC1C OC4D ICP1 T0 T1 INT6 PCINT4 PCINT5 PCINT6 PCINT7 ICP3 / CLKO RESET AREF ADC0 ADC1 ADC4 ADC5 ADC6 ADC7 HWB A5 A4 A3 A2 A1 A0 PCINT3 PCINT1 PCINT2 PCINT0 TCK TMS TDO TDI RPI5V RPI3V3 AVR3V3 RPISHDN (RPi 5 V supply shutdown) Motor 1 outputs Motor 2 outputs USB Micro-B Power switch ISP REGSHDN (5 V regulator shutdown) STAT (power selection status) OC4D PD7 6 Buzzer control BATLEV ADC6 A1 PF6 19 Not connected Power control GND VIN VREG 5V PB3 PB1 RESET 5V PB2 GND MISO / PDO SCK MOSI / PDI ISP A-Star 32U4 Robot Controller with Raspberry Pi Bridge Pinout and peripherals Page 1 Power input Robot Controller LV: 2.7 V to 11 V Robot Controller SV: 5.5 V to 36 V
Transcript of A-Star 32U4 Robot Controller with Raspberry Pi Bridge ... · with Raspberry Pi Bridge Pinout and...
Ground (0 V)AVR I/O pin names
Power distribution
Arduino digital pin numbersAVR ADC channels
Arduino analog pin numbersUSART
I2CSPI
Interrupts
JTAG
Other peripheral functionsOn-board hardware
PWM outputs (Arduino analogWrite)
OC3A / OC4AOC4D
OC4A
PB3PB1PB2PB0PD5
PF0PF1PF4PF5PF6PF7PE2
14151617
232221201918
012345678910111213
PD2PD3PD1PD0PD4PC6PD7PE6PB4PB5PB6PB7PD6PC7
RXD1TXD1SDASCL
ADC8
ADC10AIN0
ADC11ADC12ADC13
RTSADC9
SDA to RPiSCL to RPi
Yellow LED
INT2INT3INT1INT0
Motor 1 direction
MISOSCKMOSI
SSXCK1 / CTS
Button A
Button CButton B
Motor 2 direction
Red LED (RXL)Green LED (TXL)
Motor 1 PWMMotor 2 PWM
A6
A7
A8A9A10
A11
OC0B
OC1A / OC4BOC1B / OC4BOC0A / OC1C
OC4D
ICP1
T0
T1
INT6PCINT4PCINT5PCINT6PCINT7
ICP3 / CLKO
RESET
AREFADC0ADC1ADC4ADC5ADC6ADC7HWB
A5A4A3A2A1A0
PCINT3PCINT1PCINT2PCINT0
TCKTMSTDOTDI
RPI5VRPI3V3AVR3V3
RPISHDN (RPi 5 V supply shutdown)
Motor 1outputs
Motor 2outputs
USB Micro-B Powerswitch
ISP
REGSHDN (5 V regulator shutdown)STAT (power selection status) OC4D PD76
Buzzer control BATLEVADC6A1 PF619
Not connectedPower control
GNDVIN
VREG5V
PB3PB1
RESET
5VPB2GND
MISO / PDOSCK MOSI / PDI
ISP
A-Star 32U4 Robot Controllerwith Raspberry Pi BridgePinout and peripherals
Page 1
Power input
Robot Controller LV: 2.7 V to 11 V
Robot Controller SV: 5.5 V to 36 V
Raspberry Pi UARTRaspberry Pi I2C
Raspberry Pi GPIO pin numbers
Raspberry Pi SPIPWM outputs
On-board hardwarePower distribution
Level shifter 1 Level shifter 2Level shifter 3
GPIO2GPIO3GPIO14GPIO15GPIO4GPIO17GPIO18GPIO27GPIO22GPIO23GPIO24GPIO25GPIO10GPIO9GPIO11GPIO8GPIO7GPIO5GPIO6GPIO12GPIO13GPIO16GPIO19GPIO20GPIO21GPIO26
HA (5 V input A)HB (5 V input B)
LA (3.3 V output A)LB (3.3 V output B) IN
OE (output enable, inverted) VCC for level shifterOUT
SDA1SCL1TXD0RXD0
PWM0PWM1
SPI0_MOSISPI0_MISOSPI0_SCLKSPI0_CE0_NSPI0_CE1_N
SDA to AVRSCL to AVR
SCL to EEPROMSDA to EEPROM
ID_SCID_SD
A-Star 32U4 Robot Controllerwith Raspberry Pi BridgePinout and peripheralsRaspberry Pi and level shifters
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Ground (0 V)
VIN (after switch)Power input
5V (VCC access)VREG (5 V regulator output)
RPI5V (RPi 5 V access)RPI3V3 (RPi 3.3 V output)
AVR3V3 (AVR 3.3 V output)Optional power bus 1
Optional power bus 4
Optional power bus 2Optional power bus 3
Remappable to VIN with surface-mount jumper on reverse
A-Star 32U4 Robot Controllerwith Raspberry Pi BridgePower distribution
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Power input
A-Star 32U4 RobotController SV: 5.5 V to 36 V
A-Star 32U4 Robot Controller LV: 2.7 V to 11 V
