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Stellaris® LM3S9B92 EVALBOT
Robotic Evaluation Board
U s e r ’s M a n u a l
E K - E V A L B O T - U M - 0 0 C o p y r i g h t © 2 0 1 1 T e x a s I n s t r u m e n t s
Copyright
Copyright © 2011 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
2 March 19, 2011
Table of Contents
March 19, 2011 3
List of Figures
March 19, 2011 4
List of Tables
March 19, 2011 5
Stellaris® LM3S9B92 EVALBOT User’s Manual
6 March 19, 2011
C H A P T E R 1
Board Overview
The Stellaris® LM3S9B92 EVALBOT 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 EVALBOT’s 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® LM3S9B92 EVALBOT Robotic Evaluation Board
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
March 19, 2011 7
8
Stellaris® LM3S9B92 EVALBOT User’s Manual
Stellaris® LM3S9B92-IQC80 microcontroller
MicroSD card connector
I
2
S audio codec with speaker
USB Host and Device connectors
RJ45 Ethernet connector
Bright 96 x 16 Blue OLED display
On-board In-Circuit Debug Interface (ICDI)
Battery power (3 AA batteries) or power through ICDI USB cable
NOTE: EVALBOTs with serial numbers less than 50910-1500 do not support using the ICDI USB connector as a power source. During debugging, either install batteries or connect the
USB device connector to a power source.
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 9 shows a
block diagram of the electrical section of the EVALBOT.
March 19, 2011
Figure 1-2.
EVALBOT Block Diagram
Boost
Converter
+5.25V
USB
Host
Status
USB
Mux
USB
Device
GPIO
GPIO
GPIO
I2C
Tempest- class
Microcontroller
SPI
USB
GPIO
Ethernet
Power
Mux
LDO
Regulator
+3.3V
Boost
Converter
200mA
+12V
GPIO
1.5V
1.5V
1.5V
Right- side
Motor
M
Motor Driver
DRV880x
M
Left- side
Motor
Motor Driver
DRV880x
GPIO
GPIO
I2S
I2C
PWM
GPIO
PWM
GPIO
GPIO
JTAG/ SWD
UART0
USB
Device
USB for ICDI
InfraRed InfraRed
Wheel Sensors
DustDevil class
64-pin
MCU
InCircuit Debug Interface and Virtual COM Port
March 19, 2011
96x16
OLED
Graphics display
MicroSD card slot
1GB
RJ45
Jack+
Magnetics
Ethernet
Detector
Switches
Bump
Sensors
Speaker
I2 S
CODEC w/ Amp
Push
Switches
Debug
Header
9
Stellaris® LM3S9B92 EVALBOT User’s 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
2.5 A/Hr a
)
No
Max
5.0 V
5.25 V
–
–
–
0.5A
10 March 19, 2011
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 EVALBOT’s 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.
March 19, 2011 11
Stellaris® LM3S9B92 EVALBOT User’s Manual
Table 2-1 shows the EVALBOT’s 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 I
2
C interfaces. In this design, the I
2
C 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 I
2
C 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.
12 March 19, 2011
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 Part Number Description Use
Samtec TFM-110-02-S-D SMT Header 20-pos 0.050” pitch EVALBOT EM port
Samtec SFM-110-02-S-D SMT Socket 20-pos 0.050” pitch 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
March 19, 2011 13
Stellaris® LM3S9B92 EVALBOT User’s 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).
14 March 19, 2011
A P P E N D I X A
Schematics
Schematics for the EVALBOT board follow.
Microcontroller, Ethernet, and USB on page 16
Wheel Encoders, Motor Drivers, and Bumper Switches on page 17
User Interface, Audio, SD Card on page 18
In-Circuit Debug Interface on page 20
March 19, 2011 15
Microcontroller, Ethernet, and USB
H11-1
H12-1
H13-1
H1-1
+3.3V
Y1
25MHz
C29
10PF
DEBUG
+3.3V
+3.3V
R44
10K
R45
10K
+3.3V
R36
10K
C28
10PF
C52
0.1UF
Y3
16MHz
C47
10PF
TARGET_RXD
TARGET_TXD
SDCLK
SDCS
SDMISO
SDMOSI
ARST
SDCARD
ASCL
ASDA
BCLK
WCLK
DOUT
MCLK
DIN
AUDIO
TCK/SWCLK
TMS/SWDIO
TDI
TDO/SWO
BUMP_R
BUMP_L
R_QEI_A
L_QEI_A
ENC_LED_PWR
H2-1
OLED_RST
LED1
LED2
OLED_SCL
OLED_SDA
L_QEI_B
H3-1
H4-1
H5-1
H6-1
H7-1
H8-1
H9-1
H10-1
17
16
48
49
14
53
54
55
87
39
50
52
19
18
36
47
42
41
74
75
95
96
2
1
80
79
78
77
26
27
28
29
30
31
35
72
65
90
6
5
61
97
U1
PA0/U0RX
PA1/U0TX
PA2/SSI0CLK
PA3/SSI0FSS
PA4/SSI0RX
PA5/SSI0TX
PA7
PB2/I2C0SCL
PB3/I2C0SDA
PB6/I2S0TXSCK
PE4/I2S0TXWS
PE5/I2S0TXSD
PF1/I2S0TXMCLK
PD4/I2SRXSD
PC0/TCK/SWCLK
PC1/TMS/SWDIO
PC2/TDI
PC3/TDO/SWO
PE0/EPI0S8
PE1/EPI0S9
PE2/PHA0
PE3PHA1
PE6
PE7
PF0
PF4
PF5
PG0/I2C1SCL
PG1/I2C1SDA
PG7/PHB1
PJ0
PJ1
PJ2
PJ3
PJ4
PJ5
PJ6
PJ7
64
RESETN
XTALNPHY
XTALPPHY
OSC0
OSC1
C51
10PF
R29
12.4K
C26
0.1UF
+3.3V
33
51
3
4
9
21
45
57
69
82
94
ERBIAS
NC
VDDA
GNDA
VDD1
VDD2
VDD3
VDD4
VDD5
VDD6
VDD7
VDD8 GND1
GND2
GND3
GND4
GND5
GND6
GND7
LDO
VDDC1
VDDC2
=Ordering
STELLARIS MICROCONTROLLER
7
38
88
44
56
68
81
93
8
20
32
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
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
R43
49.9
USB0DM
USB0DP
USB0RBIAS
PF2/LED1
PF3/LED0
MDIO
TXOP
60
59
58
70
71
73
R39
9.10K
R40
10K
43
TXON
RXIP
46
40
RXIN
37
C27
1UF
+5V_HVBUS
EN_VBUS
MFAULT
PWM_R
PHASE_R
SLOW_DECAY
VMON
EN_12V
USER_SW1
USER_SW2
RF_UART_CTS
RF_RST_SD
RF_UART_RTS
R_QEI_B
PWM_L
PHASE_L
+3.3V
R32
49.9
R35
49.9
R33
49.9
R31
49.9
+3.3V
+3.3V
VDDC
C49
0.1UF
C41
0.01UF
TP22
R49
10K
RF_SPI
C30
0.1UF
C36
0.1UF
C48
0.01UF
C44
0.01UF
C42
10PF
C40
10PF
DEVICE/HOST
+3.3V
C53
0.1UF
C45
10PF
C38
10PF
USB HOST
J7
CON-USB-A-SMT
USB DEVICE
6
J6
5V
CON-USB-MINI-B
DD+ ID G
7
5 6
V DD+ G
TP26
+5V_HVBUS
TP18
+DVBUS
U11
6
4
D-
D+
D1-
D1+
8
2
1
9
S
OE D2-
D2+
7
3
10
5
VCC
GND
TS3USB30EDGS
RF_UART_CTS
ASDA
ASCL
RF_SPI_CS
RF_SPI_CLK
RF_SPI_MOSI
RF_SPI_MISO
TP21
WIRELESS EM SOCKET
J5
2
4
6
8
10
12
14
16
18
20
7
9
11
13
15
17
19
1
3
5
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
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
2
4
6
8
10
12
14
16
18
20
1
3
5
7
9
11
13
15
17
19
EM_CONNECTOR_1
EM_CONNECTOR_2
+DVBUS
C59
0.1UF
+3.3V
RF_RST_SD
RF_UART_RTS
R41
330
R30
330
+3.3V
R5
10
R64
10
+3.3V
9
10
2
1
7
6
8
12
11
3
5
4
J1
G+
G-
1CT:1
1CT:1
Y-
Y+
NC
GND
10/100 BASET ETHERNET
TX+
1
TX-
2
RX+
3
4
5
RX-
6
7
8
+3.3V
C65
0.1UF
C37
0.1UF
C46
0.1UF
SHIELD MH
DESIGNER
JAG
REVISION
A
PROJECT
STELLARIS EVALBOT
DESCRIPTION
MCU, Ethernet, USB
FILENAME
EvalBot Rev A.sch
DATE
10/25/2010
TEXAS INSTRUMENTS
108 WILD BASIN ROAD, SUITE 350
AUSTIN TX, 78746 www.ti.com/stellaris
PART NO.
EK-EVALBOT-A
SHEET
1 OF 5
Wheel Encoders, Motor Drivers, and Bumper
Switches
ENC_LED_PWR
R54
120
D11
+3.3V
APECVA3010F3C
Infrared
RIGHT-WHEEL ENCODER
+3.3V
R57
2.7K
TP33
1
Q4
APA3010P3BT
2
Infrared
D12
+3.3V
R55
120
APECVA3010F3C
Infrared
+3.3V
R58
2.7K
TP34
1
Q5
APA3010P3BT
2
Infrared
R_QEI_A
R_QEI_B
Q6
BSS123LT1
SLOW_DECAY
PHASE_R
PWM_R
MFAULT
TP28
TP25
TP24
TP27
C57
0.1UF
+3.3V
TP3
10
U13
CP1 VBB
8
VCP
13
11
CP2
16
5
MODE1
MODE2
1
PHASE
4
3
ENABLE
SLEEP
15
14
FAULT
VPROPI
DRV8801RT
OUT+
6
OUT-
9
SENSE
7
PAD
GND1
GND2
17
2
12
+12V
C58
0.1UF
R52
1.0
C55
1UF
MOTOR_R+
MOTOR_R-
R3
120
LEFT-WHEEL ENCODER
+3.3V
D2
+3.3V
APECVA3010F3C
Infrared
R1
2.7K
1
Q1
APA3010P3BT
2
Infrared
TP1
D3
+3.3V
R4
120
APECVA3010F3C
Infrared
+3.3V
R2
2.7K
1
Q2
APA3010P3BT
2
Infrared
TP2
L_QEI_A
L_QEI_B
MOTOR_R-
MOTOR_R+
MOTOR_L-
MOTOR_L+
C60
10PF
MOTOR TERMINALS
C4
10PF
J8-1
J8-2
DF13C-2P-1.25V
J13-1
J13-2
DF13C-2P-1.25V
BUMPER SWITCHES
SW3
ESE-22MH22
TP19
BUMP_L
SW4
ESE-22MH24
TP20
BUMP_R
A1
MOTOR-EVALBOT
MH1 MH2
A2
MOTOR-EVALBOT
MH1 MH2
A4
Size 4 Mounting Hole
A3
A5 A6
PHASE_L
PWM_L
TP7
TP9
C5
0.1UF
+3.3V
TP4
10
U2
CP1 VBB
8
VCP
13
11
CP2
16
5
MODE1
MODE2
1
PHASE
4
3
ENABLE
SLEEP
15
14
FAULT
VPROPI
DRV8801RT
OUT+
6
OUT-
9
SENSE
7
PAD
GND1
GND2
17
2
12
+12V
C6
0.1UF
R11
1.0
C1
1UF
MOTOR_L+
MOTOR_L-
DESIGNER
JAG
PROJECT
REVISION
A
STELLARIS EVALBOT
DESCRIPTION
?DESC1?
?DESC2?
FILENAME
EvalBot Rev A.sch
DATE
10/25/2010
TEXAS INSTRUMENTS
108 WILD BASIN ROAD, SUITE 350
AUSTIN TX, 78746 www.ti.com/stellaris
PART NO.
EK-EVALBOT-A
SHEET
2 OF 5
User Interface, Audio, SD Card
+3.3V
+3.3V
AUDIO CODEC AND AMPLIFIER
+3.3VA
C34
1UF
AUDIO
+3.3VA
C33
1UF
ASCL
ASDA
ARST
MCLK
BCLK
WCLK
DOUT
DIN
H20-1
H21-1
H22-1
H23-1
H24-1
+3.3VA
R16
1K
C16
0.1UF
+3.3VA
R17
1K
C31
0.1UF
40
18
13
25
12
21
9
10
5
6
3
4
7
8
34
35
36
37
38
U4
TLV320AIC3107
1
2
SCL
SDA
MCLK
BCLK
WCLK
DIN
DOUT
SPOP
SPOM
26
23
SWINP
SWINM
SWOUTP
SWOUTM
30
27
29
28
31
32
MICDET/LINE1LM
LINE1LP
LINE1RP
MIC3L/LINE1RM
LINE2LP
LINE2RP/LINE2LM
MIC3R/LINE2RM
MICBIAS
RESET
GPIO1
HPCOM
HPLOUT
HPROUT
15
14
17
LEFT_LOP
RIGHT_LOP
19
20
IOVDD
DRVDD2
DRVDD1
SPVDD
AVDD_ADC
AVDD_DAC DVDD
33
+3.3VA
+1.8V
+1.8V
C23
0.1UF
H30-1
H26-1
H25-1
H27-1
H31-1
H32-1
H28-1
H29-1
22
11
24
16
41
AVSS_DAC
AVSS_ADC
SPVSS
DRVSS
PAD
DVSS
39
LED1
LED2
STATUS LEDS
D8
R50
330
D5
Green
R15
330
D9
Green
+3.3V
R48
330
Green
K1
+
-
AST-01508MR-R
OLED_RST
OLED_SCL
OLED_SDA
TP15
TP16
TP17
+3.3V
R42
100K
R37
1K
R34
1K
R21
1.0M
C43
1UF
C35
0.01UF
96X16 OLED DISPLAY
+3.3V
+10V
C22
0.1UF
U8
18
19
20
21
22
23
15
16
17
11
12
13
14
8
9
10
6
7
4
5
1
2
3
28
29
30
24
25
26
27
31
NC5
CS
RES
D/C
WR
RD
D4
D5
D6
D7
D0/SCL
D1/SDA
D2
D3
IREF
VCOMH
VCC
NC6
NC1
VSS
TEST5
TEST4
TEST3
TEST2
TEST1
NC2
NC3
NC4
VDD
BS1
BS2
OLED-RIT-P13701
USER SWITCHES
SW1
USER_SW1
SW2
USER_SW2
SDCARD
SDCS
SDMOSI
SDCLK
SDMISO
microSD CARD INTERFACE
+3.3V
+3.3V
TP13 TP10 TP11 TP12
+3.3V
C21
0.1UF
R24
10K
+3.3V
R23
10K
J2 microSD card connector SMT
3
4
1
2
5
6
7
8
NC1
CS
DI
VDD
CLK
VSS
DO
RSV
R14
10K
DESIGNER
JAG
REVISION
A
PROJECT
STELLARIS EVALBOT
DATE
10/25/2010
DESCRIPTION
USER INTERFACE, AUDIO, SD CARD
FILENAME
EvalBot Rev A.sch
TEXAS INSTRUMENTS
108 WILD BASIN ROAD, SUITE 350
AUSTIN TX, 78746 www.ti.com/stellaris
PART NO.
EK-EVALBOT-A
SHEET
3 OF 5
Power Supplies
TARGETRST
BAT3
BAT2
BAT1
+DVBUS
+ICDI_VBUS
+VBAT
D7
OMIT
D6
0 OHMS
TP23
DIO-BAS40-05
D10
1
3
2
Q3
BSS123LT1
+VS
+VIN
PWRENABLE
R47
330
U12
3
4
1
2
8
6
IN1
IN2
OUT
STAT
EN
VSNS
ILIM GND
TPS2113
7
+VS
5
C63
10UF 16V
C50
0.1UF
+3.3V 150mA Logic Supply
U10
TLV70033DDC
1
3
IN
EN
5
4
GND
2
OUT
NC
C54
1UF
+3.3V
+VS
R63
OMIT
VDDC
See LM3S9B92 Errata
U16
TLV70012DDC
1
3
IN
EN
GND
2
OUT
NC
5
4
VDDC
On/Reset
SW6
Power Off
SW5
TP29
C61
0.1UF
+VBAT
BAT-AA-KEYELCO-1028
BAT-AA-KEYELCO-1028
BAT-AA-KEYELCO-1028
C56
1UF
Chassis GND to Logic GND connection
R38
0 OHMS
C19
0.1UF
+3.3V 150mA CODEC Analog Supply
U6
TLV70033DDC
1
3
IN
EN
5
4
GND
2
OUT
NC
C25
1UF
+3.3VA
When enabled, Power Mux Selects higher of IN1 or IN2.
+VS
R46
100K
EN_VBUS
EN_12V
C18
0.1UF
+1.8V 25mA CODEC Logic Supply
U5
TLV70018DDC
1
3
IN
EN
5
4
GND
2
OUT
NC
C24
1UF
+1.8V
+VS
R27
200K
VMON
R9
100K
R28
200K
+5V 100mA USB Supply
L2
Supply must be enabled for Host and Device modes.
U14
VLF4012AT-4R7M1R1 TPS61073DDC
1
SW VOUT
5
4.7uH
6
VBAT
R56
1.30M
3
EN FB
4
GND
C62
1UF
R51
100K
R53
137K
C64
10UF 16V
TP32
C11
1UF
L1
VLF4012AT-4R7M1R1
4.7uH
6
IN
3
EN
7
FREQ
U9
TPS61085
SW
FB
COMP
4
GND SS
5
2
1
8
+5V_HVBUS
+12V
4
3
+10V 5mA OLED Supply
U7
TPS71501DCK
IN OUT
5
1
NC
GND
2
FB
TP14
R25
1.0M
+10V
C39
1UF
R26
137K
D4
+12V 100mA Motor Supply
TP8
SS12
R8
200K
C7
10UF 16V
R13
22.6K
C10
0.1UF
R6
47K
C2
1NF
+12V
DESIGNER
JAG
REVISION
A
PROJECT
STELLARIS EVALBOT
DESCRIPTION
Power Supplies
FILENAME
EvalBot Rev A.sch
DATE
10/25/2010
TEXAS INSTRUMENTS
108 WILD BASIN ROAD, SUITE 350
AUSTIN TX, 78746 www.ti.com/stellaris
PART NO.
EK-EVALBOT-A
SHEET
4 OF 5
In-Circuit Debug Interface
6
J3
5V
ICDI USB
CON-USB-MINI-B
DD+ ID G
7
+ICDI_VBUS
C3
0.1UF
+VS
U15
8
7
6
5
VCC
NC
ORG
GND
CAT93C46
CS
SK
DI
DO
1
2
3
4
C32
6MHz
27PF
Y2
R19 27
C8
0.1UF
+VS
R22 27
R18
10K
R7
1.5K
R59
1.5K
U3
6
3V3OUT
8
USBDM
7
USBDP
+VS
48
1
2
47
EECS
EESK
EEDATA
TEST
43
44
XTIN
XTOUT
4
5
RESET
RSTOUT
ADBUS0
ADBUS1
ADBUS2
ADBUS3
ADBUS4
ADBUS5
ADBUS6
ADBUS7
ACBUS0
ACBUS1
ACBUS2
ACBUS3
SI/WUA
15
13
12
11
10
20
19
17
16
24
23
22
21
BDBUS0
BDBUS1
BDBUS2
BDBUS3
BDBUS4
BDBUS5
BDBUS6
BDBUS7
40
39
38
37
36
35
33
32
BCBUS0
BCBUS1
BCBUS2
BCBUS3
SI/WUB
30
29
28
27
26
PWREN
41
FT_TCK
FT_TDI/DI
FT_TDO/DO
FT_TMS/OUTEN
FT_SRSTN
DBGEN
JTAG/SWD
+3.3V
VCP_TXD
VCP_TX_SWO
SWO_EN
+3.3V
C20
27PF
9
18
25
34
GND
GND
GND
GND
45
AGND
FT2232D
VCC
VCC
VCCIOA
VCCIOB
3
42
14
31
AVCC
46
C9
0.1UF
R20
330
ICDI HEADER (NOT INSTALLED)
+3.3V
J4
5
7
1
3
9
2
4
6
8
10
C42-10BSA1-G
TMS/SWDIO
TCK/SWCLK
TDO/SWO
TDI
TARGETRST
DEBUG
5
4
74LVC125ARGY
6
DBG_AND_JTAG
U19-B
+3.3V
2
1
74LVC125ARGY
3
DBG_AND_SWD
R62
10K
U19-A
12
13
74LVC125ARGY
11
U19-D
R60
10K
2
U20-A
74LVC125ARGY
3
1
R61
10K
12
13
74LVC125ARGY
11
U20-D
9
10
74LVC125ARGY
8
U20-C
2
1
74LVC126A-QFN
3
U17-A
5
U17-B
6
4
74LVC126A-QFN
+3.3V
+VS
C17
0.1UF
C15
0.01UF
C12
0.1UF
C14
0.1UF
+3.3V
+3.3V
C13
0.1UF
VDD
GND
U19-E
+3.3V
VDD
GND
U20-E
+3.3V
VDD
GND
U17-E
74LVC125ARGY 74LVC125ARGY
74LVC126A-QFN
TCK/SWCLK
TDI
TMS/SWDIO
DEBUG
TARGETRST
74LVC126A-QFN
8
10
9
U17-C
TDO/SWO
74LVC125ARGY
6
4
5
U20-B
TP6
VCP_TXD
R10
0 OHMS
TARGET_RXD
11
U17-D
74LVC126A-QFN
13
12
10
8
74LVC125ARGY
U19-C
9
DATE
10/25/2010
DESIGNER
JAG
REVISION
A
PROJECT
STELLARIS EVALBOT
DESCRIPTION
In-Circuit Debug Interface
FILENAME
EvalBot Rev A.sch
TP5
VCP_RXD
TEXAS INSTRUMENTS
PART NO.
EK-EVALBOT-A
R12
0 OHMS
108 WILD BASIN ROAD, SUITE 350
AUSTIN TX, 78746 www.ti.com/stellaris
SHEET
TARGET_TXD
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
March 19, 2011 21
Stellaris® LM3S9B92 EVALBOT User’s Manual
22 March 19, 2011
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
3
4
5
6
7
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
Qty
3
13
5
1
31
10
2
Part Number
1028
C2012X5R1E105K
Description
Compact AA Battery holder, through-hole
Capacitor, 1.0uF 25V 10% X5R 0805
C0603C103J5RACTU Capacitor, 0.01uF 50V 5% 0603 X7R
C0603C102J5RACTU Capacitor , 0.001uF 50V 5% 0603 X7R
GRM188R71H104KA
93D
Capacitor, 0.1uF 50V 10% 0603 X7R
C0603C100J5GACTU Capacitor 10pF 50V 5% Ceramic
NPO/COG 0603
11
12
13
8
9
10
14
15
16
C7 C63-64
D5 D8-9
D2-3 D11-12
D4 D6-7
D10
J1
J2
J3 J6
J7
4
1
1
3
3
4
1
2
1
Mfg
Keystone
TDK
Kemet
Kemet
TDK
Kemet
C0603C270J5GACTU Capacitor 27pF 50V 5% Ceramic
NPO/COG 0603
C3225X5R1C106M Capacitor, 10uF 16V 20% X5R 1210
LTST-C171GKT LED, 0805 SMT Green
Kemet
TDK
LiteOn
Kingbright APECVA3010F3C
SS12
BAS40-05-7-F
HR961160C
J3011G21DNL
J3011G21DNLT
2908-05WB-MG
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
54819-0572
AU-Y1006-R
154-UAR42-E
Connector, Micro SD card, push-push
SMT
Connector, USB Mini-B SMT 5pin
Connector, USB Type A
Taiwan Semi
Diodes
Hanrun Pulse
3M
Molex
Assmann
Kobiconn
March 19, 2011 23
Stellaris® LM3S9B92 EVALBOT User’s Manual
Table C-1. EVALBOT Bill of Materials (BOM) (Continued)
Item
17
18
Reference
J8 J13
K1
Qty
2
1
Part Number
DF13C-2P-1.25V(20)
AST-01508MR-R
Description
Connector, Header 2 pos, 1.25mm SMD
Tin
Speaker, 8 ohm 0.3W 15mm PCB mount
19
20
21
30
31
32
33
27
28
29
34
35
22
23
24
25
26
36
37
38
39
40
41
42
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
2
4
2
5
4
1
2
3
6
1
2
2
3
4
1
1
1
2
6
4
1
2
2
12
VLF4012AT-4R7M1R
1
APA3010P3BT
Inductor 3.7x3.5 SMT 1.1A
BSS123LT1
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
ESE-22MH22
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
Resistor 1.5K 5% 0603
Resistor 330 ohms 5% 0603
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
Generic
Generic
Panasonic
Generic
Generic
Generic
Generic
Generic
Generic
Generic
Generic
Generic
Mfg
Hirose
Projects
Unlimited
TDK
Kingbright
On Semi
Generic
Generic
Generic
Generic
Generic
24 March 19, 2011
Table C-1. EVALBOT Bill of Materials (BOM) (Continued)
Item
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
SW4
Reference
SW1-2 SW5-6
U3
U15
Y1
Y2
Y3
J5 J33
U1
U2 U13
U4
U5
U6 U10
U7
U8
U9
U11
U12
U14
U17
U19 U20
PCB1
LABEL1
Qty
1
1
1
2
1
1
1
1
1
1
1
2
1
1
1
2
1
1
2
1
1
1
2
Part Number Description Mfg
ESE-22MH24
EVQ-Q2B02W
FT2232D
Switch, Detector-style Horizontal - Left/top actuation
Switch, Tact 6mm SMT, 50gf
IC, USB to Serial Interface TQFP48
CAT93C46YI-G /
AT93C46A-10TU-2.7
NX5032GA-25.00000
0MHZ
8B48-25.000MHZ TR
FOXSDLF/060-20
IC, Serial Eeprom 1Kbit TSSOP8
Crystal, 25.00MHz 5.0x3.2mm SMT
Crystal, 6.00MHz HC49US SMT
Panasonic
Panasonic
Ftdi
Catalyst Atmel
NDK
Suntsu
Fox tbd NX5032GA-
16.000000MHZ
Crystal, 16.00MHz 5.0x3.2mm SMT
TFM-110-02-S-D-K-A Connector, 20 pos 1.27mm pitch, SMT
LM3S9B92-IQC80
DRV8801RTY
TLV320AIC3107IRSB
R
TLV70018DDCT
TLV70033DDCT
TPS71501DCKR
RGS08096016BW00
1
TPS61085PWR
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
IC, Step-up DC-DC Converter
TS3USB30EDGSR
TPS2113PW
TPS61073DDC
SN74LVC126ARGY
SN74LVC125ARGY
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" PCB-EVALBOT-A
LABEL-EVALBOT Label, 2.90" x 0.50" 'Learn more at www.ti.com/
EVALBOT
'. Place on robot underside.
Samtec
TI
TI
TI
TI
TI
TI
TI
TI
TI
TI
RiT
TI
TI
March 19, 2011 25
Stellaris® LM3S9B92 EVALBOT User’s Manual
26 March 19, 2011
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 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-µA 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
March 19, 2011 27
Stellaris® LM3S9B92 EVALBOT User’s Manual
28 March 19, 2011
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