Base Board

Features (as of Rev 4.1):

5V Load Monitoring (fancy MOSFET):

• The STM32 enables 5V output

• If an overcurrent or overvoltage condition is met, an output pin goes lowe

• STM needs to be sampling this pin and shut down the output if this condition occurs

17V Load Monitoring (another fancy MOSFET)

• The STM32 enables 17V output

• A pin outputs an analog signal proportional to the current flowing through the device. During overvoltage, overcurrent, or overtemperature conditions, this pit switched to a specific voltage

• STM needs to be sampling this pin and shut down the output if one of these conditions occur

LED Matrix

• Has a connector with 3 PWM signals from the STM to control the LED matrix

Temperature Sensor

• There is a temperature sensor integrated into the board

• STM responsible for readout

USB

• There is a USB connector that is connected to a UART bus on the STM

CAN

• There are two connectors on the board which route to two CAN transceivers which route to tow CAN bus on the STM

Ultrasonic Sensors

• There are 4 connectors that receive signals from URM04 Ultrasonic Sensors

• These sensors send data via RS-485 and all 4 enter into one RS485 transceiver

• The transceiver is routed to a UART bus on the STM

Features to Remove

• Remove temperature sensor for now, will maybe go with thermocouples later

• Remove the USB port

• Remove the ultrasonic sensor suppport

Features to Add

• Add inputs for thermocouples that we can place around the e box – Won’t necessarily support them at this time

• Smart switch on the 48V rail, one for each drive

• add a terminal for each odrive

Other Questions

• Do we have any custom boards with STM32s on them that we’ve been programming successfully?