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TDK InvenSense RoboKit1, Hardware Reference Manual

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TDK InvenSense RoboKit1 Hardware Reference Manual Download Page 12

 

 

 

Document Number: AN-000350

 

Page 12 of 13

 

Revision: 1.0 

 

2

 

REFERENCES 

https://invensense.tdk.com/robokit/ 
https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/  
https://invensense.tdk.com/products/1-axis/icp-101xx/icp-10111/ 
https://invensense.tdk.com/products/ics-43434/ 
https://invensense.tdk.com/products/ch101/ 
https://invensense.tdk.com/products/ch201/ 
https://www.akm.com/global/en/products/electronic-compass/lineup-electronic-compass/ak09918c/ 
https://www.micronas.tdk.com/en/products/embedded-motor-controllers/hvc-4223f4420f 

 

 

 

Summary of Contents for InvenSense RoboKit1

Page 1: ...the application note has been designated by InvenSense in writing as subject to a specified Product Process Change Notification Method regulation InvenSense a TDK Group Company 1745 Technology Drive San Jose CA 95110 U S A 1 408 988 7339 invensense tdk com Document Number AN 000350 Revision 1 0 Release Date 01 24 2022 RoboKit1 Hardware Reference Guide ...

Page 2: ... References 12 3 Revision History 13 Figure 1 RoboKit1 Top View 3 Figure 2 RoboKit1 Bottom View 4 Figure 3 RoboKit1 USB Ports 4 Figure 4 Loading Firmware 5 Figure 5 Powering On 5 Figure 6 LEDs 7 Figure 7 Chirp Connectors 8 Figure 8 RoboKit with Chirp connected 8 Figure 9 IIM Socket on RoboKit1 and IIM 46230 9 Figure 10 Switches and Jumpers for Motor Controllers 9 Figure 11 Motor Control Header Pin...

Page 3: ...ED connections and a description of how to connect the Chirp CH101 and CH201 modules and Industrial IMU IIM 46230 Figure 1 shows the top view and Figure 2 shows the bottom view of a RoboKit1 board The RoboKit1 has a Pressure sensor IMU Temperature sensor Magnetometer Microphone Motor controller and Battery connector It also provides connectors to connect nine ultrasonic Time of Flight sensors Chir...

Page 4: ...KIT FIRMWARE IMAGE Connect a micro USB cable to USB1 for power supply note that when USB is connected to the USB1 Power port the LEDs D1 and D2 at the top right corner should be turned on and connect a micro USB cable to USB 3 EDBG port for loading the image turn ON the four switches SW5 move them towards the blue push button and run following command edbg b61 WINDOWS 175e58c exe b t same70 pv f r...

Page 5: ...described in the Figure 5 below power to the board can be supplied either through USB1 or by connecting a 11 1 Volt battery with XT30 connector When the power is supplied through USB1 the board will not be able to drive the motors However when the power is supplied through the battery connector it will be able to drive the motors The RoboKit1 has an on off switch to turn the power on or off and a ...

Page 6: ... 3 PC30_SPI0_CS3 9 10 VDD_1V8P 1 8V Power Supply SPI 0 Chip Select 4 PC31_SPI0_CS4 11 12 VDD_1V8P 1 8V Power Supply USART 0 CTS PD19_USART0_CTS_3V3 13 14 PD18_USART0_RTS_3V3 PD10_GPIO 15 16 PD11_GPIO PD12_GPIO 17 18 PD13_GPIO PC27_SPI1_MOSI 19 20 PD22_SPI0_CLK PC26_SPI1_MISO 21 22 PD17_GPIO PC24_SPI1_CLK 23 24 PD23_GPIO PC25_SPI1_CS0 25 26 PD24_GPIO PD20_SPI0_MISO 27 28 PD29_GPIO PD30_GPIO 29 30 P...

Page 7: ... 2 LED GPIO Pins CHIRP CONNECTIONS There are nine connectors to connect the Chirp modules CH101 or CH201 can be connected to any or all nine of the connectors Six connectors are on the top and three connectors are at the bottom of the board The connector numbering is described in the Figure 7 Figure 7 shows how to connect the Chirp module to the RoboKit1 using a flex cable ...

Page 8: ...Connectors Figure 8 RoboKit with Chirp connected INDUSTRIAL IMU IIM 46230 CONNECTION Industrial IMU IIM 4230 is an add on module It is connected to the RoboKit1 board through the connector J32 and is mounted at the space allocated on the board as shown in the Figure 9 ...

Page 9: ...and 3 of jumpers J17 and J27 should be connected SW10 should be in ON position and SW11 in OFF position Figure 10 describes the locations of J17 J27 SW10 and SW11 The connectors J13 and J24 are used to load the Motor controller firmware image to the Master U17 and Slave U19 Motor controllers respectively Figure 11 describes the master and slave motor controller pins connections to the Motors Figur...

Page 10: ...NS For the USART0 interface over the USB1 the Switch SW16 on the back side of the board should ON For the USART0 Tx and Rx over the J30 header pins 36 and 38 respectively as shown in Figure 13 the Switch SW16 should be OFF Figure 12 shows the location of the switch on the RoboKit1 board Figure 12 Switch for Protocol interface over USB or Header Pins ...

Page 11: ...Document Number AN 000350 Page 11 of 13 Revision 1 0 Figure 13 RoboKit and ESP32 Connections ...

Page 12: ...2688 p https invensense tdk com products 1 axis icp 101xx icp 10111 https invensense tdk com products ics 43434 https invensense tdk com products ch101 https invensense tdk com products ch201 https www akm com global en products electronic compass lineup electronic compass ak09918c https www micronas tdk com en products embedded motor controllers hvc 4223f4420f ...

Page 13: ...patents copyrights mask work and or other intellectual property rights Certain intellectual property owned by InvenSense and described in this document is patent protected No license is granted by implication or otherwise under any patent or patent rights of InvenSense This publication supersedes and replaces all information previously supplied Trademarks that are registered trademarks are the pro...

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