Rev 3 - F2021 - Taylor McNabb

tmcnabb@uwaterloo.ca

Overview

• System shall read data from and power Orbis Encoder via SPI

• System shall communicate bi-directionally with the Jetson using CAN

• System shall be able to take in 5V from PDB (all devices run on 5V)

• System shall control Hitec HS-311 Servo via PWM signal

Rough Architecture

Part Selection (WIP)

• 3.3V LDO (XC6210B332MR-G)

• EFM32 - EFM32TG11B520F128GQ64-A

  • Has SPI, CAN, and PWM

• Hitec HS-311 Servo

  • Need to make/find schematic for servo connector

  • 3 pins: 5V, GND, PWM

• Orbis Encoder

  • Need to make/find schematic for encoder connector

  • 5 pins: 5V, GND, SCK, MISO, MOSI

  • Shouldn’t need chip select pin since only one SPI device?

• 5V to 3.3V Level Shifter (TXS0104E-Q1)

  • Need to determine package

  • 

Schematic Creation

• 3.3V LDO (XC6210B332MR-G)
• EFM32 - EFM32TG11B520F128GQ64-A

• basic schematic done - need to review the organization of pins

• Hitec HS-311 Servo Connector

• Using 3 Pin CLIK-Mate

• Orbis Encoder Connector

• Using 5 Pin CLIK-Mate

• 5V to 3.3V Level Shifter (TXS0104E-Q1)