Thundercomm Qualcomm Robotics RB5, Руководство пользователя по оборудованию

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Robotics RB5 Development Kit Hardware User Manual
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24
22 SPI3_CS SSC QUP5
24 PS_INT
26 ACCEL_INT
28 GYRO_INT
30 MAG_INT
32 MAG_DRDY_INT
34 I2C4_SDA SSC QUP0
36 I2C4_SCL SSC QUP0
38 VREG_L5C_1P8
40 GND
42 GND
44 SPI3_CS2 SSC QUP5
46 GPIO-XX SSC QUP4
4.3.1 SSC SPI
RB5 implements 2 SSC SPI interfaces for different sensors that connect to QRB5165
processor sensor core. Each SPIs can support 2 CS signals.
The signals are:

SPI2_CLK_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to CLK.

SPI2_MOSI_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to MOSI.

SPI2_MISO_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to MISO.

SPI2_ACCEL_CS_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to CS.

SPI2_CS1: Connects to SSC QUP2 of QRB5165 SoC, to be configured to gyroscope CS.

SPI3_CLK: Connects to SSC QUP5 of QRB5165 SoC, to be configured to CLK.

SPI3_MOSI: Connects to SSC QUP5 of QRB5165 SoC, to be configured to MOSI.

SPI3_MISO: Connects to SSC QUP5 of QRB5165 SoC, to be configured to MISO.

SPI3_CS: Connects to SSC QUP5 of QRB5165 SoC, to be configured to CS.

SPI3_CS1: Connects to SSC QUP5 of QRB5165 SoC, to be configured to gyroscope CS.
The DIP switch (see Section 1.2.2, #16) pin5 is used to select between the onboard 6-axis
sensor ICM-42688 and expansion connector. When set to ON, will enable SPI to LS3; when
set to OFF, will enable SPI to on board sensor ICM_42688.
4.3.2 SSC I2C
The RB5 implements a SSC I2C interface for different sensors that connect to QRB5165
sensor core. 2.2k resistors are used in SOM to pull signals up for each of the I2C lines per
the I2C specifications. The signals are:

I2C4_SDA: Connects to SSC QUP0 of QRB5165 SoC, Be configured to I2C SDA.

I2C4_SCL: Connects to SSC QUP0 of QRB5165 SoC. Be configured to I2C SCL