HiBot TITech M4 User Manual

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TITech M4 Controller

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HiBot Corporation TITech M4 Controller

User Manual

HB-UM-M4CTRL

目次/Table+of+contents+

はじめに/Introduction 4..........................................................................................

製品概要 4..............................................................................................................

定格/Electrical characteristics 4.....................................................................

外観/Board dimensions 5...............................................................................

コネクタ一覧/Connectors and housing 6......................................................

機能説明 / Features 7.............................................................................................

ホールセンサ入力 / Schematic block 7..........................................................

CAN ports 7................................................................................................

Accelerometer and Magnetometer 8..............................................................

Gyroscope 9...................................................................................................

LAN port 10....................................................................................................

MicroSD port 12.............................................................................................

LEDs 13.........................................................................................................

A/D and D/A Ports 13.....................................................................................

Digital Input/Output and timer ports 13..........................................................

放熱 / Installation of the board and dissipation 14..................................................

コネクタのピン／Pin assignment 15....................................................................

■保証 16.........................................................................................................

Warranties and conditions 17.................................................................................

HiBot Corporation TITech M4 Controller

User Manual

はじめに/Introduction

This manual introduces the HiBot Titech M4 Controller ® board.

HiBot Titech M4 Controller board is based on the STM32TM ARM Cortex M4 STM32F407IG. For detailed chip hardware manuals, user is requested to check the documentation available online on the chip maker STMicroeletronics.

製品概要

Supply voltage is of 5V and the board; digital input are 5V compliant, however all A/D inputs

and the board functionalities are based on 3.3V voltage and logic levels. An input voltage higher than 3.3V on any analog channel would permanently damage the board. Thus digital output and

D/A outputs will be delivering maximum 3.3V.

定格/Electrical characteristics

Table 1

HB-UM-M4CTRL

Parameter

Conditions

Supply voltage

CPU Osc. Frequency

168MHz

Continuous current consumption

0.6A

Voltage logic level

3.3V

HiBot Corporation TITech M4 Controller

User Manual

外観/Board dimensions

図/Figure １ - Titech M4 Controllerの外観/Titech M4 Controller

図/Figure ２ – Titech M4 Controllerの寸法図/Titech M4 Controller dimensions

HB-UM-M4CTRL

HiBot Corporation TITech M4 Controller

User Manual

コネクタ一覧/Connectors and housing

The board is supplied with JTAG cable, shown in Figure 3, it can be utilized in connection with any debugger programmer for STM32 cores. This documentation will refer to the debugger/programmer device ST-LINK/V2 which is also available from the HiBot e-shop.

Figure 3 - JTAG cable and ST-LINK/V2 programmer

Optional cable, also available online, is the LAN transceiver RJ45 connector, shown in Figure 4

Figure 4 - LAN cable with RJ45 transceiver

HB-UM-M4CTRL

JTAG cable

ST-LINK/V2

ST-LINK/V2 cable set

HiBot Corporation TITech M4 Controller

User Manual

The board utilizes JST housing and connectors as follows:

-Housing: PHR-2 (for power), SHR-xV-S-B or SHR-xV-S (where x is 10,12 or 3

according the port user wishes to use)

-Contact: SPH-002T-P0.5S; SSH-003T-P0.2

機能説明 / Features

ホールセンサ入力/ Schematic block

Figure 5 - Board schematic block

Titech M4 Controller is equipped with on board motion sensor unit consisting of a digital accelerometer and magnetometer LSM303DLHC and the Gyroscope L3GD20. Connectivity to other devices can be carried out not only by UART but also utilizing two CAN ports and/or LAN ethernet communication.

　CAN ports

Two CAN ports are available, CAN port 1 is set on-board with its termination thus it can be utilized when the board is set as a termination as shown in Figure 6. CAN2 port should be instead used when the board will be utilized as a network node, the cable will have to be split in order to serialize the board in the network as shown in Figure 7

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HiBot Corporation TITech M4 Controller

User Manual

Figure 6 - CAN port 1 utilized as a termination

Figure 7 - CAN port 2 utilized as a network node

Titech M4 Controller can be utilized as a master or as a node together with other HiBot micro controller based boards

Accelerometer and Magnetometer

For more details on the accelerometer and magnetometer user should refer to the documentation available online on the LSM303DLHC chip maker.

Figure 8 shows the orientation of the chip installed on the bottom side of the board with the direction of the detectable magnetic field and accelerations.

Figure 8 - Directions of the detectable acceleration and magnetic fields

The chip can be accessed through the I2C port connected to PB9 and PB8 pins of the micro-controller as shown in Figure 9

HB-UM-M4CTRL

YXZ

HiBot Corporation TITech M4 Controller

User Manual

Figure 9 - Accelerometer and Magnetometer on board.

Gyroscope

Figure 10 shows the orientation of the gyroscope which is installed in the bottom layer of the board. The chip supplies also temperature measurements that might be utilized for precise adjustments due to the environment temperature. For more details on the chip characteristics user is requested to access the documentation online available on the L3G4200D maker.

Figure 10 - Directions of the detectable angular rates

HB-UM-M4CTRL

YXZ

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HiBot Corporation TITech M4 Controller

User Manual

The chip can be accessed by the I2C connected to PB8 and PB9 pins of the micro controller as shown in the following Figure 11.

Figure 11 - Gyroscope on board.

LAN port

The board offers the possibility to utilize Ethernet LAN communication through the LAN port. Figure 12 shows the LAN interface and the pin assignment to the microcontroller.

HB-UM-M4CTRL

MCO

GND

PD5

GND

PD7

PD6

3.3V

PB8_I2C1_SCL

PB9_I2C1_SDA

3.3V

GND

PD8 PD9

PB7

PB8_I2C1_SCL PB9_I2C1_SDA

3.3V

LSM303DLHC (Acc a Mag)

L3GD20 (Gyroscope)

One decoupling Cap for each VDD(totally 14 100nF)

PA0_ADC12_IN0

PA3_ADC12_IN3 PA4_DAC_OUT1 PA5_DAC_OUT2 PA6_ADC12_IN6

VDD_IO

SCL

SDA

INT24INT1

5C16

GND

Res8DRDY9Res10Res11SETP12SETC

VDD

U2 LSM303DLHC

0.22uF/25V

C19

100nF

C17

10uF/10V

C18

10nF/25V

C21

VDD_IO

SCL/SPC

SDA/SDI/SDO

SDO/SA0

DRDY/INT2

INT

RES

GND

PLLFILT

RES

VDD

U3 L3GD20

100nF

C20

100nF

C22

10uF/10V

C23

10k

R11

100nF

100nFC2100nFC6100nFC7100nFC8100nFC9100nF

C10

100nF

C11

2.2k

R12

2.2k

R13

10k

R10

GND

PA2_MI I_MDIO

PA7_MI I_RX _DV

PA1_MI I_RX _CLK

PA10_OTG_FS_ID

PA9_OTG_FS_VBUS

PA11_OTG_FS_DM PA12_OTG_FS_DP

PA15_TIM2_CH1

PA13 PA14

PB0_TIM3_CH3 PB1_TIM3_CH4

PB3_TIM2_CH2 PB4_TIM3_CH1

PB5_CAN2_RX

PB7 PB8_I2C1_SCL

PB9_I2C1_SDA PB10_TIM2_CH3 PB11_TIM2_CH4

PB12

100k

3.3V

100kR14

100k

R15

3.3V

DFU

4.7uF/10V

C16

MII_RX_CLK

JP2

0Hom Resistor

JP4

Jumper(2 pads)

470nF

C48

10k

PB13_CAN2_TX

PB6

PIC101

PIC102

COC1

PIC201

PIC202

COC2

PIC301

PIC302

COC3

PIC601

PIC602

COC6

PIC701

PIC702

COC7

PIC801

PIC802

COC8

PIC901

PIC902

COC9

PIC1001

PIC1002

COC10

PIC1101

PIC1102

COC11

PIC1201

PIC1202

PIC1601

PIC1602

COC16

PIC1701

PIC1702

COC17

PIC1801

PIC1802

COC18

PIC1901 PIC1902

COC19

PIC2001

PIC2002

COC20

PIC2101

PIC2102

COC21

PIC2201PIC2202

COC22

PIC2301PIC2302

COC23

PIC4801

PIC4802

COC48

PIJP201 PIJP202

COJP2

PIJP401PIJP402

COJP4

PIR101

PIR102

COR1

PIR601 PIR602

COR6

PIR701 PIR702

COR7

PIR801 PIR802

COR8

PIR901 PIR902

COR9

PIR1001 PIR1002

COR10

PIR1101

PIR1102

COR11

PIR1201

PIR1202

COR12

PIR1301

PIR1302

COR13

PIR1401 PIR1402

COR14

PIR1501PIR1502

COR15

PIU201

PIU202PIU203PIU204PIU205

PIU206

PIU207

PIU208

PIU209

PIU2010 PIU2011 PIU2012

PIU2013

PIU2014

COU2

PIU301

PIU302

PIU303

PIU304

PIU305

PIU306

PIU307

PIU308

PIU309

PIU3010

PIU3011

PIU3012

PIU3013

PIU3014

PIU3015

PIU3016

COU3

PIC102 PIC202

PIC302

PIC902

PIC1002

PIC1102 PIC1202 PIC1302PIC1402 PIC1502

PIC1701 PIC1801

PIC2001

PIC2202

PIC2302

PIR701

PIR801

PIR901

PIR1101

PIR1202 PIR1302

PIR1401

PIR1502

PIU201

PIU2014

PIU301

PIU3015

PIU3016

PIC101 PIC201

PIC301

PIC901

PIC1001

PIC1101 PIC1201 PIC1301PIC1401 PIC1501

PIC1602

PIC1702 PIC1802

PIC2002

PIC2102

PIC2201

PIC2301

PIR102

PIR1001

PIU207

PIU2010 PIU2011

PIU308

PIU309

PIU3010

PIU3011

PIU3012

PIU3013

PIR602

NLMCO

PIC1601

PIU206

PIC1901

PIU2012

PIC1902

PIU2013

PIC2101

PIC4801

PIU3014

PIC4802

PIR101

PIJP201

PIJP402

PIJP202

POMII0RX0CLK

PIJP401

PIR601

POPA10MI I0RX 0CLK

PIR702

POPA100OTG0FS0ID

PIR802

POPA110OTG0FS0DM

PIR902

POPA120OTG0FS0DP

PIR1002

PIR1102

PIU305

POPA14

POPA13

POPA90OTG0FS0VBUS

POPA20MI I0MDIO

POPA70MI I0RX 0DV

PIU208

PIR1402

PIU304

NLPB7

PIR1301

PIU202

PIU302

NLPB80I2C10SCL

PIR1201

PIU203

PIU303

NLPB90I2C10SDA

PIR1501

NLPB130CAN20TX

PIU209

PIU204

PIU205

PIU306

PIU307

POMII0RX0CLK

POPA10MI I0RX 0CLK

POPA20MI I0MDIO

POPA70MI I0RX 0DV

POPA90OTG0FS0VBUS POPA100OTG0FS0ID POPA110OTG0FS0DM POPA120OTG0FS0DP

POPA13 POPA14 POPA150TIM20CH1

POPB30TIM20CH2 POPB40TIM30CH1

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HiBot Corporation TITech M4 Controller

User Manual

Figure 12 - LAN interface

User can make use of the cable offered on HiBot homepage depicted in Figure 4 or

can assemble a cable with transceiver following the schematics available in Figure 13

HB-UM-M4CTRL

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HiBot Corporation TITech M4 Controller

User Manual

Figure 13 - Connection between LAN port and RJ45 transceiver

MicroSD port

Figure 14 shows the connection to the microcontroller pins of the microSD card

reader.

Figure 14 - MicroSD adapter pin connetions

HB-UM-M4CTRL

LED_SPEED-

TD-

TD+

RD+ RD-

LED_LINK+

LED_SPEED+

GND

LED_LINK-

M4 board CN7

JST SHR-12V-S-B

(HiBot HB-SHR12-001)

RJ45 with transformer

TAIMAG RJLD-260TC1

CN7

CN12P_1

CN?

CN12P_1

1 2 3 4 5 6 7 8

9 10 11 12

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HiBot Corporation TITech M4 Controller

User Manual

LEDs

A total of four LEDs are available on board. User can access them by setting as

digital output pins PE0, PE1, PE3 and PE4 as shown in Figure 15.

When the correspondent digital out pin is set as low level, the respective LED will

be switched on.

Figure 15 - Pin assignment for the LEDs

A/D and D/A Ports

All A/D channels are maximum 3.3V tolerant. An input voltage higher than 3.3V on

any analog channel would permanently damage the board. When using potentiometers, user

should make use of the available VREF+ (3.3V) for power and of VSSA (GND) for ground signal that are shown in the pin assignment section of this manual. All channels are with 12 bit resolution.

Two Digital to Analog converter pins are also available at the AD1 pin 4 (PA4) and

pin 5 (PA5); both lines will be outputting a signal between 0 to 3.3V.

Digital Input/Output and timer ports

All digital Input/Output pins available are depicted in the pin assignment section at the end of this manual. Each pin can be configured according to its possible functions (please refer to the STM32F407IG user manual for more information).

HB-UM-M4CTRL

BC5

8BCC;

BC5

8BCC;

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HiBot Corporation TITech M4 Controller

User Manual

放熱 / Installation of the board and dissipation

When installing the board for applications, the holes available on the board should be utilized taking care of avoiding any contact of the board surfaces with conductive materials.

HB-UM-M4CTRL

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HiBot Corporation TITech M4 Controller

User Manual

コネクタのピン／Pin assignment

HB-UM-M4CTRL

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HiBot Corporation TITech M4 Controller

User Manual

■保証

-1- 保証期間　

株式会社ハイボットは、本製品を納入日から6か月間にわたり保証いたします。

-2- 保証の制限

■修理の制限

株式会社ハイボットの責に帰する不具合が保証期間内に生じた場合、瑕疵のある当該製品を直ちに修理または交換させていただきます。ユーザサポートは、本保証における救済に含まれません。

■損害の制限

本保証は、瑕疵のある製品のみに適用され、かかる製品の故障から生じるその他のいかなる損害にも適用されません。

本製品の損傷が以下のいずれかに起因する場合、本保証は適用されません。

1) 購入者による不適切な取り扱い／使用

2) 購入者による他の工具／機械の使用

3) 第三者による変更／修理

4) 何らかの自然災害／人為災害

■保証に関するその他の制限事項

株式会社ハイボットは、本製品の瑕疵に起因する通常損害、派生損害、付随的損害、または特別損害に対していかなる責任も負いません。また、本製品の不適切な使用または改造による本製品の不具合または損傷についても、かかる使用または改造により第三者にもたらされ得る不具合または損傷についても、一切の保証をいたしません。さらに、本製品にインストールされたデータの偶発的な喪失につき、いかなる保証もいたしません。

本製品および付属ドキュメントは、現状有姿のまま提供され、その特定目的適合性に関して、いかなる保証も行われず、また、暗示されるものでもありません。本製品の使用または故障の結果として生じた損害賠償請求に対し、株式会社ハイボットは一切応じないものとします。

本製品またはその改良型は、本製品の故障によって人身障害が起こることが合理的に予想される任意の医療器具、医療装置、または医療システムにおける使用が意図されたものではありません。

このドキュメントは予備情報を提供するものであり、かかる情報は予告なく変更されることがあります。

株式会社ハイボット〒153-0064 東京都目黒区下目黒2-18-3"

目黒第一花谷ビル801

TEL： +81-(0)3-6420-0445 FAX ： +81-(0)3-6420-0446

http://www.hibot.co.jp

HB-UM-M4CTRL

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HiBot Corporation TITech M4 Controller

User Manual

Warranties and conditions

-1- Warranty Period

HiBot Corporation ® guarantees the product for 6 months from the date of delivery.

-2- Warranty Limitations

■Limitation of Repair

For any failure attributable to HiBot Corporation ® within the period of Warranty, the defective product will be promptly repaired or replaced. User assistance is not included in the Warranties remedies.

■Limitation of Damages

Warranties will be applied only to the defective product itself, and not to any other damage caused by the breakdown of the defective product.

Warranties do not apply to damages of the product caused by:

1) Inappropriate handling or using by the Buyer.

2) The use of any other tool or machinery by the Buyer.

3) Modifications or repair by third parties.

4) Any natural or artificial disaster.

■Additional Limitations on Warranty

Hibot Corp. has no liability for general, consequential, incidental or special damages arising from a defect in the product. HiBot does not warrantee regarding possible malfunctions or damages of the board and to third parties that may result from an improper use or alterations of the board. Furthermore HiBot Corporation does not warrantee regarding an eventual loss of data installed on the board.

This product and its documentation are supplied on an as-is basis and no warranty as to their suitability for any particular purpose is either made or implied. HiBot Corp. will not accept any claim for damages however arising as a result of use or failure of this product.

This product or any variant of it is not intended for use in any medical appliance, device or system in which the failure of the product might reasonably be expected to result in personal injury.

This document provides preliminary information that may be subject to change without notice.

Last Revision: August 16

2017 (updated CAN pin order)

All informations, representations, links or other messages may be changed by HiBot at any time without prior notice or explanation to the user. In particular, HiBot is not obliged to remove any outdated information from its website or to expressly mark it as being outdated.

HB-UM-M4CTRL

HiBot TITech M4 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual