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Kauai Labs VMX-pi Reference Manual

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Hardware Reference Manual
Version 1.10
Figure 1 VMX-pi configured with Raspberry Pi 3

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Summary of Contents for Kauai Labs VMX-pi

  • Page 1 Hardware Reference Manual Version 1.10 Figure 1 VMX-pi configured with Raspberry Pi 3...

  • Page 2: Table Of Contents

    VMX-pi Hardware Reference Manual (version 1.10) Contents Feature Summary ............................3 Technical Specifications ..........................5 I/O Summary ............................. 8 I/O Resource Summary ........................... 10 Channel/Resource Routing ......................... 10 I/O Channel Types/Numbers ........................11 High Current DIO Input/Output Selection Jumper ................12 Power Management Scheme ........................

  • Page 3: Feature Summary

    VMX-pi Hardware Reference Manual (version 1.10) Feature Summary VMX-pi is designed to control a reliable, intelligent robot that is tele-operated, semi-autonomous or fully-autonomous – when combined with an inexpensive Raspberry Pi-based processor. VMX-pi is also usable as a Vision/Motion co-processor when paired with another robot controller.
  • Page 4 External 5/3.3V supplies are current limited at Processors continue running Current Limiting .5A, to ensure full power is always provided even when external devices Switch & Short- to the Raspberry Pi processor and VMX-pi draw excessive power or when circuit protection microcontroller short-circuits occur 5/3.3V Voltage Flexibly supports signaling with 5V and 3.3V...

  • Page 5: Technical Specifications

    Table 1 VMX-pi Component Functions & Attributes Technical Specifications VMX-pi Technical Specifications are summarized in the table below. Note that certain specifications may be improved over time due to firmware updates. For the most up-to-date technical specifications, please see the “Technical Specifications” page at http://vmx-pi.kauailabs.com.
  • Page 6 VMX-pi Hardware Reference Manual (version 1.10) Startup Calibration Period: 15 seconds Gyro Sensitivity: +/- 2000 degrees/sec Accel Sensitivity: +/- 2 g Magnetometer Sensitivity: 1.3 Gauss Yaw angle accuracy: ~1 degree of drift/minute Yaw angle accuracy (when still): ~.25 degree of drift/minute...
  • Page 7 VMX-pi Hardware Reference Manual (version 1.10) Number of Quadrature Encoder Channel Pairs (Hardware-decode): Number of PWM Capture Inputs DIGITAL COMMUNICATION SPECIFICATIONS CAN Protocol (2.0b) 1mbps SPI Protocol 8 Mhz I2C Protocol 400 kHz USB Protocol 12 mbps UART Protocol 115,200 bps...

  • Page 8: I/O Summary

    VMX-pi Hardware Reference Manual (version 1.10) I/O Summary VMX-pi I/O Summary • 30 Digital I/O Channels “FlexDIOs PWM-capable, H/W decode of 5 Quadrature Encoders “High Current DIOs either all inputs or all PWM-capable outputs - “Comm DIOs PWM-capable outputs, 4 inputs) supporting SPI, I2C and UART or Digital I/O functions •...
  • Page 9 VMX-pi Hardware Reference Manual (version 1.10) CAN Interface: The CAN interface supports a positive and negative differential signal pair. NOTE: The two CAN signals are not referred to as “I/O Channels” and are not referenced by “VMX-pi Channel Numbers” below.

  • Page 10: I/O Resource Summary

    VMX-pi Hardware Reference Manual (version 1.10) I/O Resource Summary Each VMX-pi channel can be used for multiple functions. This flexibility functionality is provided by a set of I/O Resources. Each VMX-pi channel may be routed (under software control) to different I/O resources, depending upon the VMX-pi application requirements.

  • Page 11: I/O Channel Types/Numbers

    AnalogIn I/O Channel Types/Numbers VMX-pi follows a Channel-numbering scheme for all I/O connectors (except the signals on the CAN connector), allowing application software to address and reconfigure the functions on each channel. Note that all Channel Numbers start from 0, and begin with FlexDIO connectors on the bottom-right of the below diagram and increase in a counter-clockwise direction.

  • Page 12: High Current Dio Input/Output Selection Jumper

    VMX-pi Hardware Reference Manual (version 1.10) High Current DIO Input/Output Selection Jumper The entire bank of High Current DIOs can be either all inputs, or all outputs. This selection is performed in hardware via the High Current DIO Input/Output Selection Jumper. If the jumper is present, all High...

  • Page 13: Power Management Scheme

    Combined) VMX-pi is powered by a single 6-16VDC unregulated voltage source, and the devices it powers may consume up to 3 Amps (15 Watts). The VMX-pi voltage regulators are designed to output the following maximum current levels: Max. Current Purpose 2.1 Amps...

  • Page 14: Vmx-Pi Power Management

    Power under-voltage, and also external device power over-current and short-circuit conditions. External Device Over-current and short-circuit management When the VMX-pi 5V and 3.3V regulators that provide power to External Devices detect a current draw from those external devices exceeding the maximum current level (.5A), current is either limited to the maximum, or alternatively the current is completely removed, depending upon software configuration.
  • Page 15 FlexDIO, HighCurrentDIO, AnalogInput and CommDIO headers/connectors) is temporarily disabled until the input voltage rises again to approximately 5.85V. This ensures the full 3A output current remains available to the Raspberry Pi and the VMX-pi microcontroller.

  • Page 16: External Device Power/Signal Voltage Configuration

    DIOs and also for power pins on the Analog Input block VMX-pi I/O Signal/Logic Levels VMX-pi Analog and Digital I/O channels are designed to support nominal signal levels in both 3.3V and 5V systems, and also include circuit protection circuitry to handle cases when input signal levels exceed...
  • Page 17 VMX-pi Hardware Reference Manual (version 1.10) Table 4 Digital Channel output signal drive current summary Channel Type Max. Drive Current FlexDIO 4mA (@3.3V) High-Current DIO 12mA (@5V) CommDIO 10mA (@3.3V) 45mA Table 5 Analog/Digital Input Channel signal over-voltage protection summary...

  • Page 18: Board-Edge Connectors

    VMX-pi Hardware Reference Manual (version 1.10) Board-edge Connectors VMX-pi connectors are oriented at right-angles to the circuit board. Many of the connectors use locking connectors to ensure reliable connectivity. VMX-pi External IO Connector Summary (NOTE: All connectors exit at right-angle from board)

  • Page 19: Flexdio Header (Vmx Channels 8-11)

    VMX-pi Hardware Reference Manual (version 1.10) Figure 7 FlexDIO GH Connector (VMX Channels 0-7) pinout FlexDIO Header (VMX Channels 8-11) The FlexDIO Header provides 4 sets of power, ground, and a single signal channel. The signals may be configured to support Quadrature Encoders, Digital Inputs, Interrupts, Digital Outputs, PWM Generation or PWM Capture.

  • Page 20: Analog Input Header (Vmx Channels 22-25)

    VMX-pi Hardware Reference Manual (version 1.10) Figure 9 HighCurrentDIO Header (VMX Channels 12-21) pinout Analog Input Header (VMX Channels 22-25) The Analog Input Header provides 4 sets of power, ground, and a single signal channel. The signals may be configured to support Analog Accumulation or Analog Interrupts.

  • Page 21: Commdio Connectors (Vmx Channels 26-33)

    VMX-pi Hardware Reference Manual (version 1.10) CommDIO Connectors (VMX Channels 26-33) The 3 CommDIO Connectrors are three locking JST GH connectors (4 pins each) with different sets of power/ground/signals. Each connector may be configured to communication using the corresponding digital communication protocol. Alternatively, the Input Channels may be configured for use as Digital Inputs or Interrupts;...

  • Page 22: Micro-Usb Connector

    A JST VH Locking Connector provides power to the circuit board, as well as the connected Raspberry Pi and any external devices. The connector is rated for 10A, which well exceeds the VMX-pi current limit of Battery & Real-time Clock...

  • Page 23: 40-Pin Raspberry Pi Connector

    GPIO connector on the Raspberry Pi 3 or the Raspberry Pi Zero W. Optional 5V Fan Connector 5VDC and Ground terminals are included on the VMX-pi circuit board bottom side, and may be used to power an external fan for cooling system components. The 5VDC on this connector is generated by the onboard 5V regulator for external devices.

  • Page 24: Buttons

    When pressed, the VMX-pi microcontroller is reset • When held during power-on, places the board into Firmware Update Mode • When held down for 5 seconds during operation, schedules Factory & Omnimount Calibration to occur when VMX-pi is next restarted/powered-on...

  • Page 25: Physical Dimensions

    VMX-pi Hardware Reference Manual (version 1.10) Physical Dimensions Circuit Board Dimensions...

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