Schematic

1. Power Supply and Management

• Power Input (P1, P2, P3, P4):

  • Headers for various power inputs (5V, 12V) and ground connections.
  • Voltage regulators such as U20 (RT9193-1.8PB) to provide 1.8V and 3.3V outputs.

• Capacitors:

  • Various capacitors (C90, C91, C92, etc.) for filtering and stabilizing the power supply.

2. Microcontroller Unit (MCU)

• RP2040 (U19):
  • The main microcontroller with GPIO pins for various I/O operations.
  • Connected to an external flash memory (U17 - W25Qxx) for additional storage.

3. Communication Interfaces

• I2C Bus:

  • Multiple I2C devices connected to SDA and SCL lines.
  • Includes a header (P5) for connecting external I2C devices.

• SPI Bus:

  • Used for high-speed communication with devices such as the MPU9250/ICM20948 (U21) sensor.
  • Flash memory (U17) also communicates over SPI.

4. Sensors and Peripherals

• INA219 (INA1):

  • Current sensor for monitoring power consumption.
  • Connected to I2C bus with address 0x41.

• MPU9250/ICM20948 (U21):

  • 9-axis IMU sensor for motion tracking, connected via I2C and SPI.

• SSD1306 (U15):

  • OLED display driver for a 128x32 pixel screen.
  • Connected via I2C for displaying information.

5. Motor Drivers

• DRV8870 (DRV1, DRV2):
  • Dual motor driver circuits for controlling the motors of the JetBot.
  • Controlled via GPIO pins for direction and speed control.
  • Includes current sensing for motor feedback.

6. Connectors and Headers

• GPIO Headers (H1, H2, P6):
  • Headers for accessing GPIO pins for additional peripherals and debugging.
  • Pins for SWD (Serial Wire Debug) for programming and debugging the MCU.

7. LEDs and Indicators

• LED1:
  • Status LED controlled via GPIO.

8. Miscellaneous Components

• Resistors and Capacitors:
  • Various resistors (R43, R44, R45, etc.) and capacitors (C78, C79, etc.) used for pull-up/down, filtering, and stabilization.
  • Resistors in series with LEDs for current limiting.