OpenCR入门教程-简介
说明
- 本教程简单介绍openCR板的背景和规格
介绍
- OpenCR1.0是为ROS嵌入式系统开发的，可提供完全开源的硬件和软件
- 该板的一切,包括TurtleBot3和OP3的原理图，PCB Gerber，BOM以及固件源代码已根据开源许可证免费为用户和ROS社区提供
- OpenCR1.0板上的STM32F7系列芯片基于具有浮点单元的功能非常强大的ARM Cortex-M7
- OpenCR1.0的开发环境从Arduino IDE和Scratch（面向年轻学生）到专家的传统固件开发，已广泛开放
规格
| Items | Specifications |
|---|---|
| 微控制器 | STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS) Reference Manual, Datasheet |
| 传感器 | Gyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250) |
| Programmer | ARM Cortex 10pin JTAG/SWD connector USB Device Firmware Upgrade (DFU) Serial |
| 数字输入/输出 | 32 pins (L 14, R 18) *Arduino connectivity 5Pin OLLO x 4 GPIO x 18 pins PWM x 6 I2C x 1 SPI x 1 |
| 模拟输入 | ADC Channels (Max 12bit) x 6 |
| 通讯端口 | USB x 1 (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG) TTL x 3 (B3B-EH-A / Dynamixel) RS485 x 3 (B4B-EH-A / Dynamixel) UART x 2 (20010WS-04) CAN x 1 (20010WS-04) |
| LED和按钮 | LD2 (red/green) : USB communication User LED x 4 : LD3 (red), LD4 (green), LD5 (blue) User button x 2 Power LED : LD1 (red, 3.3 V power on) Reset button x 1 (for power reset of board) Power on/off switch x 1 |
| 输入电源 | 5 V (USB VBUS), 7-24 V (Battery or SMPS) Default battery : LI-PO 11.1V 1,800mAh 19.98Wh Default SMPS : 12V 4.5A External battery Port for RTC (Real Time Clock) (Molex 53047-0210) |
| 输出电源 | *12V max 4.5A(SMW250-02)*5V max 4A(5267-02A), 3.3V@800mA(20010WS-02) |
| 尺寸 | 105(W) X 75(D) mm |
| 重量 | 60g |
- 5V电源由稳压的12V输出提供
注:Hot swap power switch between “shore power”(12V, 4.5A SMPS) and “mobile power”(battery) from OpenCR1.0 board enables UPS(Uninterrupted Power Supply) feature.
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