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MCU_Down hardware

MCU_Head_connectors

[!CAUTION] connector is 180deg rotated compart to body_pcb!

Connectors:

Power in (J1)

Logic_12V Logic_12V Motor_12V Motor_12V
GND GND GND GND

USB Enable

The UBS port/hub needs a low enable signal to work.

Item Pin LOW
USB port enable PG1 LOW

RGB LED (J5 & J6)

Item Red Green Blue
Head Left PE8 PE10 PE12
Head Right PD13 PD14 PD15

Notes Matthijs:

  • IO pins are correct.
  • Pull pins DOWN to turn LED ON
  • All pins HIGH = WHITE

HEAD Pan & Tilt motors (J13 & J14)

Item Encoder Ch1 Encoder Ch2 PWM DIR ENABLE
Head PAN TIM3 CH1-PC6 TIM3 CH2-PC7 TIM8 CH4 - PC9 PD12 PE15
Head TILT TIM1 CH1-PE9 TIM1 CH2-PE11 TIM8 CH 3 - PC8 PD11 PE14
Item Limit Pos/Up Limit Neg/Down
Head PAN PF2 PF3
Head TILT PF4 PF5

Read Flash

SPI1, 8 bits, MSB, 18 MBits/s CPOL = Low CPHA = 1 Edge CRC = disable NSS signal = software

Write Eyes

Left eye SPI2, Transmit only, 8 bits, MSB, 9.0 MBits/s CPOL = Low CPHA = 1 Edge CRC = disable NSS signal = software

SPI2_SCK = PB13 SPI2_MOSI = PB15

Chip select (CS) = PB14 = OLED_L_CS DC pin (DC) = PD6 = OLED_DC RESET pin (Reset) = PD5 = OLED_RESET

Right eye SPI3

Chip select (CS) = PA15 = OLED_R_CS

OLED_HandleTypeDef left_eye; left_eye.hspi = &hspi2; left_eye.cs = toGPIO(OLED_L_CS_GPIO_Port, OLED_L_CS_Pin); left_eye.dc = toGPIO(OLED_DC_GPIO_Port, OLED_DC_Pin); left_eye.reset = toGPIO(OLED_RESET_GPIO_Port, OLED_RESET_Pin);

OLED_HandleTypeDef right_eye; right_eye.hspi = &hspi3; right_eye.cs = toGPIO(OLED_R_CS_GPIO_Port, OLED_R_CS_Pin); right_eye.dc = toGPIO(OLED_DC_GPIO_Port, OLED_DC_Pin); right_eye.reset = toGPIO(OLED_RESET_GPIO_Port, OLED_RESET_Pin);