5

3V3_RASP

J1

GPIO17
GPIO21
GPIO22
GPIO10
GPIO9
GPIO11

5V_RASP

1
3
5
7
9
11
13
15
17
19
21
23
25

GPIO0
GPIO1
GPIO4

2
4
6
8
10
12
14
16
18
20
22
24
26

J2
GPIO0
GPIO1
GPIO4
GPIO7
GPIO8
GPIO9
GPIO10
GPIO11
GPIO14
GPIO15
GPIO17
GPIO18
GPIO21
GPIO22
GPIO23
GPIO24
GPIO25

GPIO14
GPIO15
GPIO18
GPIO23
GPIO24
GPIO25
GPIO8
GPIO7

CON2x13

J3

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17

CON1x12
1
2
3
4
5
6
7
8
9
10
11
12

BUF_1
BUF_2
BUF_3
BUF_4
BUF_5
BUF_6
BUF_7
BUF_8
BUF_9
BUF_10
BUF_11
BUF_12

J4
1
2
3
4
5
6

CON1x17

RELAY_1
RELAY_2
RELAY_3
RELAY_4
RELAY_5
RELAY_6

CON1x6
J5
1
2

MOTOR_A
MOTOR_B

CON1x2
5V_RASP

Vin Vout
Vout
TAB

1
2

C1
10uF_1206

+
C3
100nF_0805

MC_RX
MC_TX

CON1x2

CON1x2 C2
100nF_0805

J64

3V3_RASP
2
1
2
3

3V3

LDO1117x33

U1

1
2

GND

J24

J7
CON1x3

3V3

3V3

J11

U2
1

1
2
3

C4
10uF_1206-DNF

2A-DNF

C6

J9
CON_PWR3-DNF

100nF_0805-DNF

Vin
SD

AP1509-DNF
2
Vout
3
FB

GND
GND
GND
GND

F2

5
6
7
8

D20 MSS2P3-M3/89A-DNF

L1

1
2
3
4
5

J8

47uH-DNF
3
2
1

D21

C5
47uF_1210-DNF
100nF_0805-DNF
CON1x3-DNF
MSS2P3-M3/89A-DNF

SCLK
MOSI
MISO

R1
10K_0805

R2
10K_0805

CSnA
CSnB

C7

CON1x5

Not used. Do not install!

A

MH1
HOLE_M3

MH2
HOLE_M3

MH3
HOLE_M3

MH4
HOLE_M3

MH5
HOLE_M3

Title

MH6
HOLE_M3

Size
A4
Date:
5

Gertboard
Document Number
-

Rev
4
Sheet

1
1

of

J10

20

3V3

BUF_1
1K_0805
R101
D

BUF_2
1
2

P1

D1
LED

1K_0805
R102

CON2

BUF_3

2
1

P2

U3

BUF1

CON2

19

2
3

18
17

4
5

16
15

6
7

14
13

8
9

12
11

BUF2
BUF1
BUF3

2
1

P4

BUF4

CON2

BUF5
BUF2

1
2

BUF6

P6

BUF7

CON2
R105 1K_0805

P3

R106 1K_0805

CON2

1K_0805
R103

1
2

D3
LED
CON2

1K_0805
R109

2
1

CON2

1
2

P9

BUF_6
D5
LED

1K_0805
R110

BUF_7

P10

BUF12

U4
19

2
3

18
17

4
5

16
15

6
7

14
13

BUF5
P12

C8
100nF_0805

CON2

P11

R114 1K_0805

CON2

1
2

8
9

BUF_8
D7
LED

1
2

P13

1K_0805
R112

P14

74xx244

1
2

P15

CON2

R115 1K_0805

12
11

CON2

20
B

BUF_9
BUF_10
D9
LED
1
2

CON2

BUF_11

P19
R121 1K_0805

1K_0805
R119

1
2
1
2

P21
R122 1K_0805

2
1

P18
CON2

U5
19

2
3

18
17

4
5

16
15

6
7

14
13

BUF9
2
1

P20

CON2
CON2

8
9

BUF_12
D11
LED

R127 1K_0805
1
2

S3

BUF_3

CON2
1
2

1K_0805
R120

74xx244
D12
LED

P23

R123 1K_0805

1
2

BUF1
BUF2
BUF3

R204 10K_0805

BUF4
R205 10K_0805
BUF11

1
2

R201 10K_0805

P22

12
11

3
4
B

R203 10K_0805
BUF10

3
4

3V3

R202 10K_0805

CON2
D10
LED

R126 1K_0805
1
2

S2

BUF_2
BUF8

BUF5

R206 10K_0805

P24

BUF6

R207 10K_0805
CON2

10

P17

1K_0805
R118

CON2

C10
100nF_0805

3
4

P16

3V3

R116 1K_0805

1K_0805
R117

R125 1K_0805
1
2

S1

BUF_1
BUF7

1
2

D8
LED

C9
100nF_0805

BUF6
1
2

10

R113 1K_0805

1K_0805
R111

CON24

3V3

2
1

CON2
D6
LED

CON2

CON2

BUF10
BUF4

3V3

BUF_5

BUF9

CON2

1
C

BUF8

P8

BUF11

1
2

20

R108 1K_0805

74xx244
D4
LED

P7

BUF3
1
2

1K_0805
R104

1
2

P5
R107 1K_0805

BUF_4

10

D2
LED

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24

BUF12

BUF7

R208 10K_0805

BUF8
3V3

R209 10K_0805
R124 1K_0805

CON2
R210 10K_0805
R211 10K_0805
R212 10K_0805

BUF9
Title
BUF10
BUF11

Size
A4

Gertboard
Document Number
-

Rev
4

BUF12
Date:
5

Sheet

2
1

of

J6
1
2
CON2
J12
RELAY_PWR

1
2
CON2
J13

1
2
U12
CON2
I1
I2
I3
I4
I5
I6
I7
I8

8x

ULN2803A

GND

RELAY_1
RELAY_2
RELAY_3
RELAY_4
RELAY_5
RELAY_6

COM
Q1
Q2
Q3
Q4
Q5
Q6
Q7
Q8

10
18
17
16
15
14
13
12
11

J14
1
2
CON2
J15

1
2
3
4
5
6
7
8

1
2

CON2
J16
1
2
CON2
J17
1
2
CON2

Title
Size
A4
Date:
5

Gertboard
Document Number
-

Rev
4
Sheet

3
1

of

F1
MP
7

U7
1
C11
100nF_0805

2A

J19

VREF
OUT1

MOTOR_A

MPC

VCC

OUT2

MA

MB

1
2
3
4

IN1
CON4

MOTOR_B

IN2

GND

BD6220/6221/6222-HFP

FIN
GND

8
MGND

motor power nets named to make high current

Title
Size
A4
Date:
5

Gertboard
Document Number
-

Rev
3
Sheet

4
1

of

Patch area
J26

J27
1
2

J30
1
2

J31
1
2

J32
1
2

1
2

CON2-DNF

CON2-DNF

CON2-DNF

CON2-DNF

CON2-DNF

J33

J34

J35

J36

J37

1
2

1
2

1
2

CON2-DNF

CON2-DNF

J38

J39
1
2

1
2

CON2-DNF

CON2-DNF

CON2-DNF

J41

J42

1
2

CON2-DNF

1
2

1
2

CON2-DNF

1
2

CON2-DNF

CON2-DNF

J43

J44
1
2

J46
1
2

CON2-DNF

CON2-DNF

J49

J50
1
2

J45
1
2

CON2-DNF

J52
1
2

CON2-DNF

CON2-DNF

J55

J56

J57

J58

CON3-DNF

3
2
1

CON3-DNF

J60

CON3-DNF

3V3

J61
1
2

1
2

CON2-DNF
A

CON2-DNF

J54
1
2

CON2-DNF

3
2
1

1
2

CON2-DNF

CON2-DNF

3
2
1

J48
1
2

CON2-DNF

J51
1
2

J47
1
2

J70
1
2

1
2

CON2-DNF
J59

3
2
1

CON2-DNF
J62

3
2
1

CON3-DNF

CON3-DNF

J65

J66
3
2
1

CON3-DNF

3
2
1

CON3-DNF
J67

3
2
1

CON3-DNF

J63
3
2
1

CON3-DNF
J68

3
2
1
CON3-DNF

J69
3
2
1

3
2
1

CON3-DNF

CON3-DNF

CON2-DNF

3V3

3V3

J40

J53
1
2

1
2

CON2-DNF

Title
Size
A4

CON2-DNF

Date:
5

Gertboard
Document Number
-

Rev
4
Sheet

5
1

of

3V3

DA1 6

3
1

4
2

DA0 8

CON4A

VOUTB
VOUTA

MCP4802

CSn
SCK
SDI
LDACn

2
3
4
5

CSnB
SCLK
MOSI

VSS

U10
J29

VDD

C19
100nF_0805

3V3

J23

AD0 2

1
3

2
4

AD1 3

CON4A

CH0
CH1

MC_MISO
MC_SCK
PC6/DBG/RESETn

U6
CSn/SHDN
CLK
DOUT
DIN

1
7
6
5

1
3
5

CSnA
SCLK
MISO
MOSI

3V3
2
4
6

MC_MOSI
C

HEADER 3X2

J28

VSS VDD

C20
100nF_0805

MCP3002

3V3
C15
100nF_0805

C16
10uF_1206

XTAL_IN

2
3
Cer resonator

VCC
AVCC
AREF

PD0
PD1
PD2
PD3
PD4

100nF_0805

9
10
11
12
13
14

PD5
PD6
PD7
PB0

PC6/Reset_n
PD0/RXD
PD1/TXD
PD2/INT0
PD3/INT1/OC2B
PD4/XCK/T0

ADC5/SCL/PC5
ADC4/SDA/PC4
ADC3/PC3
ADC2/PC2
ADC1/PC1
ADC0/PC0

PB6/XTAL1
PB7/XTAL2
PD5/OC0B/T1
PD6/OC0A/AIN0
PD7/AIN1
PB0/CLK0/ICP1

SCK/PB5
MISO/OC2A/PB4
MOSI/OC2A/PB3
SS_n/OC1B/PB2
OC1A/PB1

ATmega328P

GND
GND

PC6/DBG/RESETn

X1

U8
1
2
3
4
5
6

C17

7
20
21

10K_0805
R34

28
27
26
25
24
23

PC5
PC4
RC3
PC2
PC1
PC0

19
18
17
16
15

MC_SCK
MC_MISO
MC_MOSI
PB2
PB1

8
22

D19
1N4148

J25

PD0
PD1

2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40

PC0
PC1
PC2
RC3
PC4
PC5
PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PB0
PB1
PB2
MC_MOSI
MC_MISO
MC_SCK

1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39

CONN PCB 20x2

MC_RX
MC_TX

J71
XTAL_IN

HEADER 1
Title
Size
A4
Date:
5

Gertboard
Document Number
-

Rev
4
Sheet

6
1

of