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RoboKit1 Hardware
Reference Guide
InvenSense, Inc. reserves the right to change
specifications and information herein without
notice unless the product is in mass production
and 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
AN-000350
Document Number: AN-000350
Revision: 1.0
Release Date: 01/24/2022
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Summary of Contents for TDK InvenSense RoboKit1
- Page 1 AN-000350 RoboKit1 Hardware Reference Guide InvenSense, Inc. reserves the right to change InvenSense, a TDK Group Company Document Number: AN-000350 specifications and information herein without 1745 Technology Drive, San Jose, CA 95110 U.S.A Revision: 1.0 notice unless the product is in mass production +1(408) 988–7339...
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Page 2: Table Of Contents
AN-000350 TABLE OF CONTENTS RoboKit1 Module ..............................3 Introduction ..............................3 Connections ..............................4 Instructions to load the RoboKit Firmware Image ..................4 Powering on ..............................5 Header Pin configurtion ..........................6 LEDs ................................6 Chirp connections ............................7 Industrial IMU (IIM-46230) connection ....................... 8 Motor controller connections ........................ -
Page 3: Robokit1 Module
AN-000350 1 ROBOKIT1 MODULE INTRODUCTION This document provides details of the RoboKit1 board, the location of various sensors on the board, power supplies, communication interface, a description of the header pins, LED 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. -
Page 4: Connections
AN-000350 CONNECTIONS As shown in Figure 3, USB1 is used for power supply and for serial interface with the board. USB2 is used as port for debug messages, and USB 3 is used to load the firmware image. INSTRUCTIONS TO LOAD THE ROBOKIT 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”... -
Page 5: Powering On
AN-000350 After loading the image if USB 3 EDBG port connection needs to be removed turn OFF all the four switches of “SW5” (move them away from the blue push button). POWERING ON As 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. -
Page 6: Header Pin Configurtion
HEADER PIN CONFIGURTION The Robokit board has a 40 pins header J30, the functionality of the pins is as described in the Table 1. DESCRIPTION SIGNAL NAME SIGNAL NAME DESCRIPTION SPI 0 Chip Select 0 PA31_SPI0_CS0 5V_RASP 5V Power Supply SPI 0 Chip Select 1 PD0_SPI0_CS1 5V_RASP... -
Page 7: Chirp Connections
Figure 6. LEDs MCU PIN MCU SIGNAL FUNCTION LED NAME PA11 LED1 PA12 LED2 PA13 LED3 PA14 LED4 Table 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. -
Page 8: Industrial Imu (Iim-46230) Connection
Figure 7. Chirp 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 8 of 13 Document Number: AN-000350 Revision: 1.0... -
Page 9: Motor Controller Connections
Figure 9. IIM Socket on RoboKit1 and IIM 46230 MOTOR CONTROLLER CONNECTIONS For the RoboKit1 board to drive the motors, 11.1 Volts of power must be supplied through the XT30 connector, the pins 2 and 3 of jumpers J17 and J27 should be connected, SW10 should be in ON position, and SW11 in OFF position. -
Page 10: Switching Data Output Between Usb1 And Header Pins
Figure 11. Motor Control Header Pins Connections SWITCHING DATA OUTPUT BETWEEN USB1 AND HEADER PINS 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. - Page 11 Figure 13. RoboKit and ESP32 Connections Page 11 of 13 Document Number: AN-000350 Revision: 1.0...
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Page 12: References
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 Page 12 of 13 Document Number: AN-000350 Revision: 1.0... -
Page 13: Revision History
This information furnished by InvenSense or its affiliates (“TDK InvenSense”) is believed to be accurate and reliable. However, no responsibility is assumed by TDK InvenSense for its use, or for any infringements of patents or other rights of third parties that may result from its use.
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