Stellaris Robotic Evaluation Board

User s Manual

EKB-UCOS3-EVM-UM-00

Copyright 2010 Texas Inst ruments

Copyright
Copyright 2010 Texas Instruments, Inc. All rights reserved. Stellaris and StellarisWare are registered trademarks of Texas Instruments. ARM and Thumb are registered trademarks, and Cortex is a trademark of ARM Limited. Other names and brands may be claimed as the property of others. Texas Instruments 108 Wild Basin, Suite 350 Austin, TX 78746 http://www.ti.com/stellaris

October 7, 2010

Table of Contents
Chapter 1: Board Overview.............................................................................................................................. 9 Features.............................................................................................................................................................. 9 Block Diagram .................................................................................................................................................. 10 Specifications.................................................................................................................................................... 12 Chapter 2: Hardware Description .................................................................................................................. 13 LM3S9B92 Microcontroller ............................................................................................................................... 13 Clocking ........................................................................................................................................................ 13 Reset............................................................................................................................................................. 13 Power Supplies ............................................................................................................................................. 13 Organic LED Display..................................................................................................................................... 14 microSD CARD ............................................................................................................................................. 14 Audio............................................................................................................................................................. 14 Ethernet ........................................................................................................................................................ 14 USB............................................................................................................................................................... 15 Robotic Features........................................................................................................................................... 15 Expansion ..................................................................................................................................................... 15 Debugging..................................................................................................................................................... 15 Appendix A: Schematics................................................................................................................................ 17 Appendix B: Component Locations.............................................................................................................. 23 Appendix C: Bill of Materials (BOM) ............................................................................................................. 25 Appendix D: References ................................................................................................................................ 29

October 7, 2010

Stellaris Robotic Evaluation Board Users Manual

October 7, 2010

List of Figures
Figure 1-1. Stellaris EVALBOT Robot............................................................................................................. 9 Figure 1-2. EVALBOT Block Diagram ............................................................................................................. 11 Figure B-1. EVALBOT Component Locations.................................................................................................. 23

October 7, 2010

Stellaris Robotic Evaluation Board Users Manual

October 7, 2010

List of Tables
Table 1-1. Table 2-1. Table 2-2. Table C-1. EVALBOT Specifications............................................................................................................... 12 EVALBOT Power Supplies............................................................................................................ 14 Connector Part Numbers............................................................................................................... 15 EVALBOT Bill of Materials (BOM)................................................................................................. 25

October 7, 2010

Stellaris Robotic Evaluation Board Users Manual

October 7, 2010

C H A P T E R 1 Board Overview
The Stellaris Robotic Evaluation Board (EVALBOT) is a robotic evaluation platform for the Stellaris LM3S9B92 microcontroller. The board also uses a range of Texas Instruments analog components for motor drive, power supply, and communications functions. The EVALBOTs electronics arrive ready-to-run. The board's robotics capabilities require less than 30 minutes of mechanical assembly. Figure 1-1 shows a photo of the EVALBOT. Figure 1-1. Stellaris EVALBOT Robot

When roaming, three AA batteries supply power to the EVALBOT. The EVALBOT automatically selects USB power when tethered to a PC as a USB device or when debugging. Test points are provided to all key EVALBOT signals. Two 20-pin headers enable future wireless communications using standardized Texas Instruments low-power embedded radio modules (EM boards). Additional uncommitted microcontroller signals are available on break-out pads arranged in rows adjacent to the microcontroller. The EVALBOT has factory-installed quickstart software resident in on-chip Flash memory. For software debugging and Flash programming, an integrated In-Circuit Debug Interface (ICDI) requires only a single USB cable for debug and serial port functions.

Features
The EVALBOT board includes the following features: Evaluation board with robotic capabilities Mechanical components assembled by user

October 7, 2010

Stellaris Robotic Evaluation Board Users Manual

Stellaris LM3S9B92-IQC80 microcontroller MicroSD card connector I2S audio codec with speaker USB Host and Device connectors RJ45 Ethernet connector Bright 96 x 6 Blue OLED display On-board In-Circuit Debug Interface (ICDI) Battery power (3 AA batteries) or power through USB Wireless communication expansion port Robot features Two DC gear-motors provide drive and steering Opto-sensors detect wheel rotation with 45 resolution Sensors for bump detection

Block Diagram
The EVALBOT evaluation board uses the Stellaris LM3S9B92 microcontroller and includes a 10/100 Ethernet port and a USB 2.0 full-speed On-the-Go (OTG) port. The EVALBOT combines all mechanical and electrical components on a single circuit board. Figure 1-2 on page 11 shows a block diagram of the electrical section of the EVALBOT.

10

October 7, 2010

Figure 1-2.

EVALBOT Block Diagram

I/O Signal Break-out Status Boost Converter +5.25V GPIO GPIO GPIO GPIO I2C 96x16 OLED Graphics display

Tempest -class Microcontroller

SPI MicroSD card slot 1GB

USB Host USB Mux USB Device USB

Ethernet

RJ45 Jack+ Magnetics

Ethernet

LDO Regulator Power Mux

+3.3V

GPIO GPIO Push Switches Speaker

Boost Converter 200mA

GPIO +12V I2S I2C I2S CODEC w/Amp

Right-side Motor

1.5V 1.5V 1.5V PWM GPIO Bump Sensors Detector Switches

Motor Driver DRV880x

GPIO

M
Left-side Motor

Motor Driver DRV880x

PWM GPIO JTAG/SWD UART0 Debug Header

InfraRed

InfraRed

Wheel Sensors USB Device USB for ICDI In-Circuit Debug Interface and Virtual COM Port

DustDevil class 64-pin MCU

October 7, 2010

11

Stellaris Robotic Evaluation Board Users Manual

Specifications
Table 1-1 shows the specifications for the EVALBOT. Table 1-1. EVALBOT Specifications
Parameter Battery Supply Voltage USB Supply Voltage Battery current (typical stationary) Battery current (typical in motion) Power down supply current AA Alkaline Battery Capacity (typ) Reverse Battery Protection Allowable Battery/USB Current
a. From Energizer E91 data sheet.

Min 3.5 V 4.0 V

Typical 4.5 V 5.0 V 100 mA 200 mA 0.5 uA

Max 5.0 V 5.25 V

2.5 A/Hra) No

0.5A

12

October 7, 2010

C H A P T E R 2 Hardware Description
The EVALBOT consists of a 4-inch diameter circuit board populated with a Stellaris LM3S9B92 microcontroller and 14 additional Texas Instruments analog and digital semiconductors.

LM3S9B92 Microcontroller
The Stellaris LM3S9B92 is an ARM Cortex-M3-based microcontroller with 256-KB flash memory, 96-KB SRAM, 80-MHz operation, Ethernet MAC/PHY, USB Host/Device/OTG, and a wide range of other peripherals. See the LM3S9B92 microcontroller data sheet (order number DS-LM3S9B92) for complete device details. Unused microcontroller signals are routed to either the 20-pin EM expansion headers or to 0.1" pitch break-out pads which are labeled with their GPIO reference. An internal multiplexer allows different peripheral functions to be assigned to each of these GPIO pads. When adding external circuitry, consideration should be given to the additional load on the EVALBOTs power rails. The reference design may include additional components necessary to address silicon errata. For details of those circuit functions, see the LM3S9B92 Errata document.

Clocking
The EVALBOT uses a 16.0-MHz crystal (Y3) to complete the LM3S9B92 microcontroller's main internal clock circuit. An internal PLL, configured in software, multiples this clock to higher frequencies for core and peripheral timing. A 25.0 MHz (Y1) crystal provides an accurate timebase for the Ethernet PHY.

Reset
The RESET signal into the LM3S9B92 microcontroller connects to the Reset/On switch (SW6) and to the ICDI circuit for a debugger-controlled reset. External reset is asserted (active low) under any one of three conditions: Power-on reset (filtered by an R-C network) Reset/On push switch SW6 held down By the ICDI circuit when instructed by the debugger (this capability is optional, and may not be supported by all debuggers).

The OLED Module and Audio CODEC have special Reset timing requirements requiring a dedicated control line from the microcontroller.

Power Supplies
The EVALBOT can be powered either from batteries, the ICDI USB cable, or a USB device cable. The power source is determined by a Texas Instruments TPS2113 Auto Switching Power Mux and two Schottky diodes. Battery power is selected automatically when USB power is not present.

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13

Stellaris Robotic Evaluation Board Users Manual

Table 2-1 shows the EVALBOTs power supplies. Each supply is generated directly or indirectly from the main power bus, +VS, using either a linear regulator or boost converter. Table 2-1. EVALBOT Power Supplies
Name +VS +3.3V +3.3VA +1.8V +5V_HVBUS +12V +10V Voltage 3.5 5.0 V +3.3 V +3.3 V +1.8 V +5.25 V +12 V +10 V Max Current 0.5 A 150 mA 150 mA 25 mA 100 mA 100 mA 5 mA Use Main power distribution bus to other power rails Logic power supply for main MCU, digital, and ICDI functions Analog and I/O power for audio CODEC Digital/core power for audio CODEC USB Host power supply Motor driver power supply OLED bias power supply

The board's on/off feature uses two push switches (SW5, SW6) and a simple feedback circuit through the inverter created by MOSFET Q3. An internal 1uA constant current source on the TPS2113's Enable pin (ENn) ensures that the TPS2113 is initially powered on when power is connected. Resistor R47 sets the overcurrent protection to 0.5 A.

Organic LED Display

The user interface consists of a 96 x 16 OLED display and two push switches. The OLED display has an integrated controller IC with a parallel, SPI, and I2C interfaces. In this design, the I2C interface is used. The OLED display is limited to 'write-only' in this mode, so pixel data cannot be read back from the display

microSD CARD
EVALBOT includes a microSD card interface, which interfaces to the MCU using a SPI interface. Because power to the SD card is not controlled removing or inserting the card while power is applied is not recommended.

Audio
A Texas Instruments TLV320AIC3107 CODEC adds a high performance audio stage to the EVALBOT. An integrated mono class-D amplifier drives an on-board speaker, with other audio inputs and outputs available on break-out header pads. An I2S interface carries the output (and input) audio data streams, while an I2C interface configures the CODEC. Most unused audio pins are available on nearby pads (0.05"pitch).

Ethernet
With its fully integrated 10/100 Ethernet MAC and PHY, the LM3S9B92 requires only a standard Jack with integrated magnetics and a few passive components. The TX and RX signals are routed to the jack as a differential pair. The PHY incorporates MDI/MDI-X cross-over, so the function of the TX and RX pairs can be swapped in software.

14

October 7, 2010

USB
The LM3S9B92 microcontroller has Host, Device, and OTG USB capabilities. EVALBOT supports USB Host and Device with dedicated connectors and a Texas Instruments T3USB30E high-speed USB multiplexer to select between them.

Robotic Features
Two 12-V gear motors provide locomotion to the EVALBOT. A Texas Instruments DRV8801 Full-Bridge motor driver IC controls each motor; providing direction control, over-current and short-circuit protection, dead-time insertion and several switching schemes. Each EVALBOT wheel has two infra-red optical sensors which generate a quadrature signal as the wheel rotates. The IR emitters (D2, D3, D11, and D12) each connect to a GPIO signal so that the MCU can turn off the LEDs for power saving when not in motion. The GPIO outputs should be configured for 8 mA drive-strength to ensure the IR emitters have sufficient intensity. Left and right-side bumpers detect collisions using simple detector switches. The GPIO inputs should have internal pull-up resistors enabled and may optionally be configured to generate an interrupt when a collision occurs.

Expansion
The EM port on EVALBOT enables RF connectivity using a range of Low-Power RF Evaluation Modules (EM boards) from Texas Instruments. EM boards cover both Sub 1-GHz and 2.4GHz bands and are a supported by a several different protocol stacks. The EM port can also be used for general purpose expansion. SPI, UART, and GPIO signals are available. Table 2-2 lists the connector part numbers. Two identical connectors should be installed on a 1.20" pitch. Table 2-2. Connector Part Numbers
Supplier Samtec Samtec Part Number TFM-110-02-S-D SFM-110-02-S-D Description SMT Header 20-pos 0.050 pitch SMT Socket 20-pos 0.050 pitch Use EVALBOT EM port EM board

In additional to the EM port, EVALBOT also has 9 GPIO (PJ0..7, PE7), Power and GND connections on a 0.1" grid.

Debugging
EVALBOT includes an integrated In-Circuit Debug Interface (ICDI) for debugging, serial communication and power over a single USB cable. Based on an FTDI FT2232 USB controller, the ICDI supports all major Cortex-M3 development environments. Stellaris microcontrollers support programming and debugging using either JTAG or SWD. JTAG uses the signals TCK, TMS, TDI, and TDO. SWD requires fewer signals (SWCLK, SWDIO, and, optionally, SWO for trace). The debugger determines which debug protocol is used. An external debug interface can be used with EVALBOT if connector J4 is installed by the user.

JTAG/SWD
The FT2232 is factory-configured by Texas Instruments to implement a JTAG/SWD port (synchronous serial) on channel A and a Virtual COM Port (VCP) on channel B. This feature

October 7, 2010

15

Stellaris Robotic Evaluation Board Users Manual

allows two simultaneous communications links between the host computer and the target device using a single USB cable. Separate Windows drivers for each function are provided on the Documentation and Software CD. The In-Circuit Debug Interface USB capabilities are completely independent from the LM3S9B92's on-chip USB functionality. A small serial EEPROM holds the FT2232 configuration data. The EEPROM is not accessible by the LM3S9B92 microcontroller. For full details on FT2232 operation, go to www.ftdichip.com. The FT2232 USB device performs JTAG/SWD serial operations under the control of the debugger. A simple logic circuit multiplexes SWD and JTAG functions and, when working in SWD mode, provides direction control for the bidirectional data line.

Virtual COM Port

The Virtual COM Port (VCP) allows Windows applications (such as HyperTerminal) to communicate with UART0 on the LM3S9B92 over USB. Once the FT2232 VCP driver is installed, Windows assigns a COM port number to the VCP channel.

Serial Wire Out

EVALBOT also supports the Cortex-M3 Serial-Wire Output (SWO) trace capabilities. Under debugger control, on-board logic can route the SWO data stream to the VCP transmit channel. The debugger software can then decode and interpret the trace information received from the Virtual Com Port. The normal VCP connection to UART0 is interrupted when using SWO. Not all debuggers support SWO. See the Stellaris LM3S9B92 Microcontroller Data Sheet for additional information on the Trace Port Interface Unit (TPIU).

16

October 7, 2010

A P P E N D I X A Schematics
Schematics for the EVALBOT board follow. Microcontroller, Ethernet, and USB on page 18 Wheel Encoders, Motor Drivers, and Bumper Switches on page 19 User Interface, Audio, SD Card on page 20 Power Supplies on page 21 In-Circuit Debug Interface on page 22

October 7, 2010

17

Microcontroller, Ethernet, and USB

USB HOST J7
CON-USB-A-SMT J6 5V

USB DEVICE
CON-USB-MINI-B DD+ ID G 7

U1
+3.3V TARGET_RXD TARGET_TXD SDCLK SDCS SDMISO SDMOSI ARST ASCL ASDA BCLK WCLK DOUT MCLK DIN

5 PB1/USB0VBUS PA6 PB0 PB4/U1RX PB5/U1TX PB7 PD0/PWM0 PD1/PWM1 PD2 PD3/AIN12 PD5 PD6 PD7/CCP1 PC4 PC5 PC6 PC7/PHB0 67 34 66 92 91 89 10 11 12 13 98 99 100 25 24 23 22
R43
49.9 EN_VBUS +5V_HVBUS +5V_HVBUS

6 V 1 D2 D+ 3 G

+DVBUS C59 0.1UF

H11-1 H12-1 H13-1 H1-1

SDCARD

TP26 TP18
+DVBUS

28 29 30 31 35 72 65 90 6 5 61 97

PA2/SSI0CLK PA3/SSI0FSS PA4/SSI0RX PA5/SSI0TX PA7 PB2/I2C0SCL PB3/I2C0SDA PB6/I2S0TXSCK PE4/I2S0TXWS PE5/I2S0TXSD PF1/I2S0TXMCLK PD4/I2SRXSD

MFAULT PWM_R PHASE_R SLOW_DECAY VMON EN_12V USER_SW1 USER_SW2

U11 TP22
DEVICE/HOST +3.3V R49 10K

6 4 1 9

DD+ S OE

D1D1+

8 2

+3.3V

+3.3V

D2D2+

7 3
TP21
J5 1 3 5 7 9 11 13 15 17 19 2 4 6 8 10 12 14 16 18 20 VSS RF_UART_CTS RF_SLOW_CLK(32K) RF_UART_RX RF_UART_TX RF_I2C_SDA RF_I2C_SCL RF_SDIO_CLK RF_SDIO_CMD VSS RF_SDIO_D0 RF_SDIO_D1 RF_SDIO_D2 RF_SDIO_D3 RF_GPIO0-GDO0 RF_GPIO1-GDO2 RF_SPI_CSn RF_SPI_CLK RF_SPI_MOSI RF_SPI_MISO

10
C53 0.1UF

R44 10K

R45 10K

VCC GND
TS3USB30EDGS

WIRELESS EM SOCKET
J33 VDD2(1.8V)OPTION VDD2(1.8V)OPTION VDD2(1.8V)OPTION VDD1(3.3V) VDD1(3.3V) BT/FM_AUD_I2S_FS RF_GPIO2 RF_CC_RSTN BT/FM_AUD_I2S_CLK RF_WCS_NSHUTD VSS ANA_AUDIO_FM_LEFT ANA_AUDIO_FM_RIGHT BT/FM_AUD_I2S_DX BT/FM_AUD_I2S_RX USBM USBP NC RF_UART_RTS RF_GPIO3 1 3 5 7 9 11 13 15 17 19 2 4 6 8 10 12 14 16 18 20

AUDIO

TMS/SWDIO

TCK/SWCLK

TCK/SWCLK TMS/SWDIO TDI TDO/SWO

80 79 78 77

PC0/TCK/SWCLK PC1/TMS/SWDIO PC2/TDI PC3/TDO/SWO

RF_UART_CTS RF_RST_SD RF_UART_RTS R_QEI_B

RF_UART_CTS

26 27

PA0/U0RX PA1/U0TX

+3.3V

DEBUG

BUMP_R BUMP_L R_QEI_A L_QEI_A ENC_LED_PWR H2-1 OLED_RST LED1 LED2

74 75 95 96 2 1

PE0/EPI0S8 PE1/EPI0S9 PE2/PHA0 PE3PHA1 PE6 PE7

PH0/PWM2 PH1/PWM3 PH2 PH3 PH4/SSI1CLK PH5 PH6/SSI1RX PH7/SSI1TX

86 85 84 83 76 63 62 15

RF_GPIO0 RF_GPIO1 RF_SPI_CLK RF_SPI_CS RF_SPI_MISO RF_SPI_MOSI

TARGETRST

PWM_L PHASE_L

ASDA ASCL

RF_RST_SD

RF_SPI

47 42 41

PF0 PF4 PF5 USB0DM USB0DP PG0/I2C1SCL PG1/I2C1SDA PG7/PHB1 USB0RBIAS

70 71 73
R39

RF_SPI_CS RF_SPI_CLK RF_SPI_MOSI RF_SPI_MISO

RF_UART_RTS

+3.3V

OLED_SCL OLED_SDA L_QEI_B

19 18 36

EM_CONNECTOR_1 9.10K +3.3V R41 330 +3.3V R30 330 +3.3V R32 49.9 R35 49.9
J1

EM_CONNECTOR_2

R36 10K

+3.3V

C52 0.1UF

H3-1 H4-1 H5-1 H6-1 H7-1 H8-1 H9-1 H10-1

14 87 39 50 52 53 54 55

PJ0 PJ1 PJ2 PJ3 PJ4 PJ5 PJ6 PJ7

PF2/LED1 PF3/LED0 MDIO

60 59 58
R40
10K

10/100 BASET ETHERNET

G+ G-

C42 10PF

C45
10PF

12 11 3
R5 10

TXOP

43

1CT:1 TX+ TXRX+ 1 2 3 4

+3.3V

5 4 7
1CT:1

64

TXON RESETN RXIP

46 40
+3.3V

C65 0.1UF

C37 0.1UF

C46 0.1UF

5 RX6 7 8

17 16 48 49

R64 10

XTALNPHY XTALPPHY RXIN OSC0 OSC1

6 8 2 1
YY+

37
R33 49.9 R31 49.9

C40 10PF

C38 10PF
+3.3V

33
Y1 25MHz Y3 16MHz
R29 12.4K +3.3V

ERBIAS NC VDDA VDD1 VDD2 VDD3 VDD4 VDD5 VDD6 VDD7 VDD8 8 20 32 44 56 68 81 93
+3.3V +3.3V

9 10

NC GND

51 3

SHIELD

MH

13 14
DESIGNER REVISION DATE

C26
0.1UF

C29
10PF

C28
10PF

C47
10PF

C51
10PF

GNDA

C30 0.1UF

C36 0.1UF

C48 0.01UF

C44 0.01UF

9 21 45 57 69 82 94

GND1 GND2 GND3 GND4 GND5 GND6 GND7

15 16

LDO VDDC1 VDDC2

7 38 88
C27 1UF C49 0.1UF VDDC

JAG
PROJECT

8/6/2010

TEXAS INSTRUMENTS
STELLARIS
R

MICROCONTROLLERS

STELLARIS EVALBOT
C41 0.01UF
DESCRIPTION

108 WILD BASIN ROAD, SUITE 350 AUSTIN TX, 78746

=Ordering
STELLARIS MICROCONTROLLER

www.ti.com/stellaris

MCU, Ethernet, USB

FILENAME PART NO. SHEET

EvalBot Rev A.sch

EK-EVALBOT-A

1 OF 5

Wheel Encoders, Motor Drivers, and Bumper Switches

RIGHT-WHEEL ENCODER
+3.3V

LEFT-WHEEL ENCODER
+3.3V

R57 2.7K

R1 2.7K

TP33
D11 R54
120 APECVA3010F3C Infrared +3.3V R_QEI_A

TP1
D2 R3
+3.3V L_QEI_A

1
Q4 APA3010P3BT

1
Q1 APECVA3010F3C Infrared APA3010P3BT

120

2 Infrared

2 Infrared

+3.3V

+3.3V

D12 R55
120

+3.3V R58 2.7K

D3 R4

+3.3V R2 2.7K

TP34
APECVA3010F3C Infrared R_QEI_B

120 APECVA3010F3C

TP2
Infrared L_QEI_B

1
Q5 APA3010P3BT

1
Q2 APA3010P3BT

2 Infrared

2 Infrared

+12V

MOTOR TERMINALS
A1 MOTOR-EVALBOT
MOTOR_R-

Q6 BSS123LT1

U13
ENC_LED_PWR C57 0.1UF

10

CP1

VBB VCP

8
C58

C55 1UF
MOTOR_R+

C60
10PF

J8-1

MH1 1
J8-2 DF13C-2P-1.25V

MH2 2 MH2 2
Size 4 Mounting Hole A4

13
0.1UF

11
TP28
SLOW_DECAY

CP2 MODE1 MODE2 PHASE ENABLE SLEEP FAULT VPROPI

DRV8801RT

16 5
TP25

OUT+

MOTOR_R+

MOTOR_L-

C4

J13-1 J13-2 DF13C-2P-1.25V

A2 MOTOR-EVALBOT

PHASE_R

1
TP24

OUTSENSE PAD GND1 GND2

9 7 17 2 12
R52
1.0

MOTOR_RMOTOR_L+

10PF

PWM_R

+3.3V

TP27
MFAULT

15 14
TP3

BUMPER SWITCHES
SW3

TP19
BUMP_L

4 3

MH1

A3

A5

A6

ESE-22MH22

+12V

SW4

TP20
BUMP_R

U2

10
C5 0.1UF

CP1

VBB VCP

8
C6

C1 1UF

ESE-22MH24

13
0.1UF

11 16 5
TP7
PHASE_L

CP2 MODE1 MODE2 PHASE ENABLE SLEEP FAULT VPROPI

DRV8801RT

OUT+

MOTOR_L+ DESIGNER MOTOR_LREVISION DATE

1
TP9

OUTSENSE PAD GND1 GND2

9 7 17 2 12
R11
1.0

PWM_L

+3.3V

4 3 15 14
TP4

JAG
PROJECT

8/6/2010

TEXAS INSTRUMENTS
STELLARIS
R

MICROCONTROLLERS

STELLARIS EVALBOT
DESCRIPTION

108 WILD BASIN ROAD, SUITE 350 AUSTIN TX, 78746 www.ti.com/stellaris

?DESC1? ?DESC2?
FILENAME PART NO. SHEET

EvalBot Rev A.sch

EK-EVALBOT-A

2 OF 5

User Interface, Audio, SD Card

+3.3V

+3.3V

96X16 OLED DISPLAY AUDIO CODEC AND AMPLIFIER

U8 K1 U4
TLV320AIC3107

R16 1K ASCL ASDA ARST MCLK BCLK WCLK DOUT DIN

R17 1K

1 2 34 35 36 37 38 3 4 5 6 7 8 9 10 31 32
+3.3VA

SCL SDA MCLK BCLK WCLK DIN DOUT

SPOP SPOM SWINP SWINM SWOUTP SWOUTM

26 23 30 27 29 28
+3.3VA

+ +3.3V +3.3V

AST-01508MR-R
H30-1
R42 100K R37 1K R34 1K

AUDIO

C43 1UF

H20-1 H21-1 H22-1

H23-1

MICDET/LINE1LM LINE1LP HPCOM LINE1RP HPLOUT MIC3L/LINE1RM HPROUT LINE2LP LINE2RP/LINE2LM MIC3R/LINE2RM MICBIAS RESET GPIO1 IOVDD DRVDD2 DRVDD1 SPVDD AVDD_ADC AVDD_DAC LEFT_LOP RIGHT_LOP

15 14 17
+1.8V

H26-1 H25-1 H27-1

OLED_RST

TP15

H31-1 H32-1

TP16
OLED_SCL OLED_SDA

H24-1
+3.3VA +3.3VA +3.3VA

19 20

H28-1 H29-1

TP17

40 18 13 25 12 21

+1.8V

+10V

DVDD

33
C23 0.1UF
R21 1.0M

C34 1UF

C33 1UF

C16 0.1UF

C31 0.1UF

22 11 24 16 41

AVSS_DAC AVSS_ADC SPVSS DRVSS PAD

DVSS

39

C35 0.01UF

C22 0.1UF

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

NC1 VSS TEST5 TEST4 TEST3 TEST2 TEST1 NC2 NC3 NC4 VDD BS1 BS2 NC5 CS RES D/C WR RD D0/SCL D1/SDA D2 D3 D4 D5 D6 D7 IREF VCOMH VCC NC6

OLED-RIT-P13701

+3.3V

+3.3V

microSD CARD INTERFACE

R24 10K

R23 10K

J2
microSD card connector SMT

TP13
SDCS SDMOSI SDCLK SDMISO

TP10

TP11

TP12
+3.3V

D8 R50
LED1 330 Green USER_SW1

C21 0.1UF

R14 10K

SW1

D5 R15
LED2 330 Green

SW2
USER_SW2

DESIGNER

REVISION

DATE

9 X1 10 X2 11 X3 12

X4

STATUS LEDS

USER SWITCHES

SDCARD

1 2 3 4 5 6 7 8

+3.3V

NC1 CS DI VDD CLK VSS DO RSV

+3.3V

D9 R48
330 Green

JAG
PROJECT

8/6/2010

TEXAS INSTRUMENTS
STELLARIS
R

MICROCONTROLLERS

STELLARIS EVALBOT
DESCRIPTION

108 WILD BASIN ROAD, SUITE 350 AUSTIN TX, 78746 www.ti.com/stellaris

USER INTERFACE, AUDIO, SD CARD

FILENAME PART NO. SHEET

EvalBot Rev A.sch

EK-EVALBOT-A

3 OF 5

Power Supplies

D7
+DVBUS

+3.3V 150mA Logic Supply

U10
TLV70033DDC +VS

SS12 D6
+ICDI_VBUS

1 3
+VS C50 0.1UF

IN EN

OUT NC GND 2

5 4
C54 1UF

R63
+3.3V 1K

VDDC

VDDC

See Errata
U16
TLV70012DDC

SS12
+VBAT

U12
+VIN

8 6 1 2 3 4

IN1 IN2 STAT EN VSNS ILIM

OUT

7 +VS
C63 10UF 16V

C61 0.1UF

C56 1UF

+3.3V 150mA CODEC Analog Supply

U6
TLV70033DDC

1 3

IN EN

OUT NC GND 2

5 4

PWRENABLE

GND

5 1 3
C19 0.1UF

TPS2113 R47 330

IN EN

OUT NC GND 2

5 4
C25 1UF

+3.3VA

TARGETRST

TP23

When enabled, Power Mux Selects higher of IN1 or IN2.

+1.8V 25mA CODEC Logic Supply On/Reset

DIO-BAS40-05 D10 1 3 2
+VS

U5
TLV70018DDC

+VS

SW6

1 3
C18 0.1UF Q3 BSS123LT1
R46 100K

IN EN

OUT NC GND 2

5 4
C24 1UF

+1.8V R27 200K

VMON
R28 200K

+5V 100mA USB Supply

L2
Supply must be enabled for Host and Device modes.

U14
TPS61073DDC

Power Off

VLF4012AT-4R7M1R1

TP32

1
4.7uH

SW5

SW VBAT EN

VOUT

+5V_HVBUS R56 1.30M

6 3

EN_VBUS

FB GND 2

C64 10UF 16V

R53 137K +12V

+10V 5mA OLED Supply

U7
TPS71501DCK

C62 1UF

R51 100K

TP14

4 3

IN

OUT

5 1
R25 1.0M

+10V

NC GND FB 2

TP29
+VBAT

L1
VLF4012AT-4R7M1R1 R26 137K

C39 1UF

4.7uH

BAT3

BAT-AA-KEYELCO-1028

U9
TPS61085

+12V 100mA Motor Supply

D4

TP8
+12V

6
EN_12V

IN EN FREQ GND

SW FB COMP SS

5 2 1 8
C10 0.1UF
R13 22.6K R6 47K

BAT2

3
C11 1UF

SS12

R8 200K

BAT-AA-KEYELCO-1028
R9 100K

7 4

C7 10UF 16V

BAT1

BAT-AA-KEYELCO-1028

C2 1NF

DESIGNER

REVISION

DATE

JAG
PROJECT

8/6/2010

TEXAS INSTRUMENTS
STELLARIS
R

MICROCONTROLLERS

Chassis GND to Logic GND connection

R38 0 OHMS

STELLARIS EVALBOT
DESCRIPTION

108 WILD BASIN ROAD, SUITE 350 AUSTIN TX, 78746 www.ti.com/stellaris

Power Supplies
FILENAME PART NO. SHEET

EvalBot Rev A.sch

EK-EVALBOT-A

4 OF 5

In-Circuit Debug Interface

13 12

74LVC125ARGY
11

DEBUG TCK/SWCLK

ICDI USB
J3 6 5V DCON-USB-MINI-B D+ ID G 7 5

74LVC125ARGY
6

DBG_AND_JTAG

U20-D

U19-B

+3.3V

R60 10K 10

74LVC125ARGY
8

1 2

74LVC125ARGY
3

R62 10K

TDI

DBG_AND_SWD

+ICDI_VBUS
U3

U20-C
C3 0.1UF R19 27 C8
6 3V3OUT ADBUS0 ADBUS1 ADBUS2 ADBUS3 ADBUS4 ADBUS5 ADBUS6 ADBUS7 ACBUS0 ACBUS1 ACBUS2 ACBUS3 SI/WUA BDBUS0 BDBUS1 BDBUS2 BDBUS3 BDBUS4 BDBUS5 BDBUS6 BDBUS7 BCBUS0 BCBUS1 BCBUS2 BCBUS3 SI/WUB PWREN 24 23 22 21 20 19 17 16 15 13 12 11 10 40 39 38 37 36 35 33 32 30 29 28 27 26 41 +3.3V +VS

0.1UF
8 7 USBDM USBDP

FT_TCK FT_TDI/DI FT_TDO/DO FT_TMS/OUTEN FT_SRSTN DBGEN JTAG/SWD

12

U19-A
1 2

74LVC126A-QFN
3 TMS/SWDIO

U20-A
13

74LVC125ARGY U17-A
3

74LVC125ARGY
11

+VS

R22 27
R59 1.5K

U17-B
1 R61 10K

5 4

+VS U15 8 7 6 5 VCC NC ORG GND CAT93C46 CS SK DI DO 1 2 3 4

R18 10K

+3.3V

U19-D

VCP_TXD VCP_TX_SWO

74LVC126A-QFN

TARGETRST

SWO_EN

R7
1.5K

48 1 2 47 43 44

EECS EESK EEDATA TEST XTIN XTOUT

74LVC126A-QFN
8

10 9 TDO/SWO

Y2 6MHz

+3.3V

U17-C

+VS
4 5 RESET RSTOUT

74LVC125ARGY
6

C32 27PF

C20 27PF

4 5

9 18 25 34 45

GND GND GND GND AGND FT2232D

VCC VCC VCCIOA VCCIOB AVCC

3 42 14 31 46

U20-B
R20 C9 0.1UF
330

C17 0.1UF

C15 0.01UF

C12 0.1UF

C14 0.1UF

TP6

VCP_TXD

R10
0 OHMS TARGET_RXD

U17-D
11 12 13

74LVC126A-QFN

10

TP5
8 9 VCP_RXD

R12
TARGET_TXD 0 OHMS

74LVC125ARGY
ICDI HEADER (NOT INSTALLED)
DEBUG
+3.3V

U19-C

J4

DESIGNER

REVISION

DATE

14

14

14

1 3 5 7 9

2 4 6 8 10

TMS/SWDIO TCK/SWCLK TDO/SWO TDI TARGETRST

JAG
+3.3V +3.3V +3.3V +3.3V
PROJECT U19-E VDD GND 7 VDD GND 7 U20-E VDD GND 7 U17-E

8/6/2010

TEXAS INSTRUMENTS
STELLARIS
R

MICROCONTROLLERS

STELLARIS EVALBOT
DESCRIPTION

108 WILD BASIN ROAD, SUITE 350 AUSTIN TX, 78746 www.ti.com/stellaris

C42-10BSA1-G

C13 0.1UF

In-Circuit Debug Interface

74LVC125ARGY 74LVC125ARGY 74LVC126A-QFN FILENAME PART NO. SHEET

EvalBot Rev A.sch

EK-EVALBOT-A

5 OF 5

A P P E N D I X B Component Locations
Plots of the top-side and bottom-side component locations are shown in Figure B-1. Complete Gerber (RS274X) and PCB (Mentor PADS) files for the four-layer PCB layout are included in the EVALBOT Board Hardware Package. Figure B-1. EVALBOT Component Locations

October 7, 2010

23

Stellaris Robotic Evaluation Board Users Manual

24

October 7, 2010

A P P E N D I X C Bill of Materials (BOM)

Table C-1. shows the Bill of Materials for the EVALBOT board design. Table C-1. EVALBOT Bill of Materials (BOM)
Item
1 2

Reference BAT1-3 C1 C11 C24-25 C27 C33-34 C39 C43 C54 C55 C56 C62 C15 C35 C41 C44 C48 C2 C3 C5-6 C8-10 C12-14 C16-19 C21-23 C26 C30-31 C36-37 C46 C49-50 C52-53 C57-59 C61 C65 C4 C28-29 C38 C40 C42 C45 C47 C51 C60 C20 C32 C7 C63-64 D5 D8-9 D2-3 D11-12 D4 D6-7 D10 J1

Qty
3 13

Part Number
1028 C2012X5R1E105K

Description
Compact AA Battery holder, through-hole Capacitor, 1.0uF 25V 10% X5R 0805

Mfg
Keystone TDK

C0603C103J5RACTU

Capacitor, 0.01uF 50V 5% 0603 X7R

Kemet

4 5

1 31

C0603C102J5RACTU GRM188R71H104KA 93D

Capacitor , 0.001uF 50V 5% 0603 X7R Capacitor, 0.1uF 50V 10% 0603 X7R

Kemet TDK

10

C0603C100J5GACTU

Capacitor 10pF 50V 5% Ceramic NPO/COG 0603

Kemet

C0603C270J5GACTU

Capacitor 27pF 50V 5% Ceramic NPO/COG 0603 Capacitor, 10uF 16V 20% X5R 1210 LED, 0805 SMT Green LED, Infrared, Right Angle in 3.0 x 1.0mm SMT Diode, Schottky 20V 1A SMA Diode, Schottky 40V 100mA SOT23 Connector, RJ45 with 10/100 magnetics, shielded SMT

Kemet

8 9 10

3 3 4

C3225X5R1C106M LTST-C171GKT APECVA3010F3C

TDK LiteOn Kingbright

11 12 13

4 1 1

SS12 BAS40-05-7-F HR961160C J3011G21DNL J3011G21DNLT 2908-05WB-MG

Taiwan Semi Diodes Hanrun Pulse

14

J2 J3 J6 J7

Connector, Micro SD card, push-push SMT Connector, USB Mini-B SMT 5pin Connector, USB Type A

3M

15 16

2 1

54819-0572 AU-Y1006-R 154-UAR42-E

Molex Assmann Kobiconn

October 7, 2010

25

Stellaris Robotic Evaluation Board Users Manual

Table C-1. EVALBOT Bill of Materials (BOM) (Continued)

Item
17

Reference J8 J13 K1 L1-2 Q1-2 Q4-5 Q3 Q6 R11 R52 R19, R22 R1-2 R57-58 R13 R14 R18 R23-24 R36 R40 R44-45 R49 R60-62 R39 R21 R25 R26 R53 R29 R5, R64 R31-33 R35 R43 R3-4 R54-55 R10, R12, R38 R16-17 R34 R37 R47 R63 R7, R59 R15 R20 R30 R41 R48 R50 R56 R6 R8 R27-28 R9 R42 R46 R51 SW3

Qty
2

Part Number
DF13C-2P-1.25V(20)

Description
Connector, Header 2 pos, 1.25mm SMD Tin Speaker, 8 ohm 0.3W 15mm PCB mount

Mfg
Hirose

18

AST-01508MR-R

Projects Unlimited TDK

19

VLF4012AT-4R7M1R 1 APA3010P3BT

Inductor 3.7x3.5 SMT 1.1A

20

Phototransistor, Infrared, Right Angle in 3.0 x 1.0mm SMT MOSFET, N-Channel 100V 170mA SOT-23 Resistor 1 ohms 1% 0603 Resistor 27 ohms 5% 0603 Resistor 4.7K 5% 0603 Resistor 22.6K 1% 0603 Resistor 10K 5% 0606

Kingbright

21

BSS123LT1

On Semi

22 23 24 25 26

2 2 4 1 12

Generic Generic Generic Generic Generic

27 28 29 30 31 32 33 34 35

1 2 2 1 2 5 4 3 6

Resistor 9.10K 1% 0603 Resistor 1.0M 1% 0603 Resistor 137K 1% 0603 Resistor 12.4K 1% 0603 Resistor, 10 ohms 5% 0603 Resistor 49.9 ohms 1% 0603 Resistor 120 ohms 1% 0603 Resistor 0 ohms 0603 Resistor 1K 5% 0603

Generic Generic Generic Generic Generic Generic Generic Generic Generic

36 37

2 6

Resistor 1.5K 5% 0603 Resistor 330 ohms 5% 0603

Generic Generic

38 39 40 41 42

1 1 3 4 1 ESE-22MH22

Resistor 1.30M 1% 0603 Resistor 47K 5% 0603 Resistor 200K 1% 0603 Resistor 100K 1% 0603 Switch, Detector-style Horizontal Right/top actuation

Generic Generic Generic Generic Panasonic

26

October 7, 2010

Table C-1. EVALBOT Bill of Materials (BOM) (Continued)

Item
43

Reference SW4 SW1-2 SW5-6 U3 U15 Y1

Qty
1

Part Number
ESE-22MH24

Description
Switch, Detector-style Horizontal - Left/top actuation Switch, Tact 6mm SMT, 50gf IC, USB to Serial Interface TQFP48 IC, Serial Eeprom 1Kbit TSSOP8

Mfg
Panasonic

44 45 46

2 1 1

EVQ-Q2B02W FT2232D CAT93C46YI-G / AT93C46A-10TU-2.7 NX5032GA-25.00000 0MHZ 8B48-25.000MHZ TR FOXSDLF/060-20 NX5032GA-16.00000 0MHZ TFM-110-02-S-D-K-A LM3S9B92-IQC80

Panasonic Ftdi Catalyst Atmel

47

Crystal, 25.00MHz 5.0x3.2mm SMT

NDK Suntsu

48 49

Y2 Y3 J5 J33 U1 U2 U13 U4 U5 U6 U10 U7 U8 U9 U11 U12 U14 U17 U19 U20 PCB1 LABEL1

1 1

Crystal, 6.00MHz HC49US SMT Crystal, 16.00MHz 5.0x3.2mm SMT

Fox tbd

50 51

2 1

Connector, 20 pos 1.27mm pitch, SMT IC, ARM Cortex-M3 Microcontroller TQFP100 IC, Full-Bridge Motor Driver IC, Audio CODEC with class D amplifier WQFN IC, 1.8V 200mA Low-dropout voltage regulator IC, 3.3V 200mA Low-dropout voltage regulator IC, Adjustable 50mA Low-dropout voltage regulator, SC70 OLED display, 96x16 Blue 13701

Samtec TI

52 53

2 1

DRV8801RTY TLV320AIC3107IRSB R TLV70018DDCT

TI TI

54

TI

55

TLV70033DDCT

TI

56

TPS71501DCKR

TI

57

RGS08096016BW00 1 TPS61085PWR TS3USB30EDGSR

RiT

58 59

1 1

IC, Step-up DC-DC Converter IC, High Speed USB 2.0 1:2 Mux/Demux Switch SSOP IC, 2-Ch Auto-switching power mux IC, Synchronous Boost Converter with 600-mA switch IC, Quad tri-state line driver act lo TSSOP14 IC, Quad tri-state line driver act hi TSSOP14 PCB, 4-layer 5.200x6.850" Label, 2.90" x 0.50" 'Learn more at www.ti.com/EvalBot'. Place on robot underside.

TI TI

60 61

1 1

TPS2113PW TPS61073DDC

TI TI

62

SN74LVC126ARGY

TI

63

SN74LVC125ARGY

TI

64 65

1 1

PCB-EVALBOT-A LABEL-EVALBOT

October 7, 2010

27

Stellaris Robotic Evaluation Board Users Manual

28

October 7, 2010

A P P E N D I X D References
In addition to this document, the following references are available for download at www.ti.com/stellaris. Stellaris LM3S9B92 Microcontroller Data Sheet Stellaris LM3S5632 Microcontroller Data Sheet DMOS Full-Bridge Motor Drivers Data Sheet (DRV8801RTY) Low-Power Stereo CODEC with Integrated Mono Class-D Amplifier Data Sheet (TLV320AIC3107) 200mA, Low IQ, Low Dropout Regulator for Portables Data Sheet (TLV70018) 200mA, Low IQ, Low Dropout Regulator for Portables Data Sheet (TLV70033) 50mA, 24V, 3.2-A Supply Current, Low-Dropout Linear Regulator in SC70 Package Data Sheet (TPS71501) 650 kHz/1.2MHz Step-Up DC-DC Converter w/ Forced PWM Mode Data Sheet (TPS61085) High-Speed USB 2.0 (480 Mbps) 1:2 Multiplexer/Demultiplexer Switch With Single Enable Data Sheet (TS3USB30) Dual In/Single Out Autoswitching Power MUX Data Sheet (TPS2113) Adjustable, 600-mA Switch, 90% Efficient PFM/PWM Boost Converter in ThinSOT Data Sheet (TPS61073) The following data sheets can be obtained from the manufacturer: P13701 OLED Display Data Sheet from RiT Display Corporation SSD1300 OLED Controller Data Sheet from Solomon Systech Limited

October 7, 2010

29

Stellaris Robotic Evaluation Board Users Manual

30

October 7, 2010

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