1

OpenROV Controller 2.5 Rev B

Digital I/O Channels

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27

BB UART
BB UART
User J3-11
User J3-9
User J3-7
User J3-5
Servo1 J8-1
Servo2 J8-4
Servo3 J8-7
Servo4 J8-10
Servo5 J8-13
Servo6 J8-16
PWM4 J1-7/8
LED
User J2-11
User J2-9
ESC Power Switch
N/C
User J2-7
User J2-5
I2C SDA J1-14
I2C SCL J1-12
User J3-16
User J3-14
User J3-12
User J3-10
User J3-8
User J3-6

28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53

User J3-4
User J3-2
User J2-16
User J2-14
User J2-12
User J2-10
User J2-8
User J2-6
User J2-4
User J2-2
N/C
N/C
N/C
N/C
N/C
N/C
PWM1 J1-1/2
PWM2 J1-3/4
PWM3 J1-5/6
N/C
N/C
LED
SPI MISO to BB and ICSP Header
SPI MOSI to BB and ICSP Header
SPI SCK to BB and ICSP Header
SPI SS to BB

Analog I/O Channels

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Controller and BB Battery Current

ESC 3 Current
ESC 2 Current
ESC 1 Current
Battery Voltage (after protection diodes)
Battery 2 Current
Battery 1 Current
Humidity (optionally populated)
Board Temperature
User
J4-14
User
J4-12
User
J4-10
User
J4-8
User
J4-6
User
J4-4
User
J4-2

Revision History
Rev

Date

13 Aug 2013 RWH

--

20 Aug 2013 RWH

2 Sep 2013

RWH

Changes

Engr

Initial Prototype
Prototype Batch. Revised J6 connector orientation. Changed BB node
names. Revised C11, C15, and U5 and added C34 to avoid +5V and +3.3V
brownout when switching ESCs on. Revised ESC mounting holes. Revised LED
colors. Revised silkscreen. Added weak Arduino reset pullup for standalone
operation. Added cap slot C35 to hold vehicle on if noisy tether connection.
Added bypass points J17 for ESC power switch. Arduino reset function moved from
BB pin 13 to BB pin 11.

First production batch. J6 changed from socket to male board stacker. 4th mounting
hole added to board. Revised fiducial locations. Inverted logical case of UART LEDs.
BB TX LED moved from Arduino space to BB space. Board ID EEPROM circuitry DNP.

Sheet Finder
1
2
3
4
5
6
7
8

Cover Page
Input / Output
Power Switching
5V and 3.3V Power
Microcontroller (Arduino Mega compatible)
PWM and Environment Sensors
I2C and BeagleBone Interface
Motor Current Sensing and ESC Connections

OpenROV
This work is released under the Creative Commons
Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

Cover Page
F

BeagleBone P9 Connector

Servo Outputs
J5
+3V3
3V3_SCL
3V3_SDA
GND
TETHER_A
TETHER_B
TP20
TP21
TP22
TP23
TP24
TP25

This ground pin is not connected to

the ground plane, but is run back
to connector J1

14
15
16
17
18
19
20
21
22
23
24
25

1
2
3
4
5
6
7
8
9
10
11
12
13

ESC_1A
ESC_1B
ESC_1C
GND
BAT_1+
BAT_2+
GND
ESC_2A
ESC_2B
ESC_2C
ESC_3A
ESC_3B
ESC_3C

GND
BB_3V3
BB_SYS_5V
BB_PWR_BUT
BB_P9_11
BB_P9_13
BB_P9_15
BB_P9_17
BB_P9_19
BB_P9_21
BB_P9_23
BB_P9_25
BB_P9_27
BB_P9_29
BB_P9_31
BB_P9_33
BB_P9_35
BB_P9_37
BB_P9_39
BB_P9_41

DB-25 Male Vertical Connector

GND

+5V

+5V

Wire Harness Connector

GND
J6-1
J6-3
J6-5
J6-7
J6-9
J6-11
J6-13
J6-15
J6-17
J6-19
J6-21
J6-23
J6-25
J6-27
J6-29
J6-31
J6-33
J6-35
J6-37
J6-39
J6-41
J6-43
J6-45

J6-2
J6-4
J6-6
J6-8
J6-10
J6-12
J6-14
J6-16
J6-18
J6-20
J6-22
J6-24
J6-26
J6-28
J6-30
J6-32
J6-34
J6-36
J6-38
J6-40
J6-42
J6-44
J6-46

BB_3V3
BB_SYS_5V
BB_SYS_RESET*
BB_P9_12
BB_P9_14
BB_P9_16
BB_P9_18
BB_P9_20
BB_P9_22
BB_P9_24
BB_P9_26
BB_P9_28
BB_P9_30
BB_P9_32
BB_P9_34
BB_P9_36
BB_P9_38
BB_P9_40
BB_P9_42

D6
D7
D8
D9
D10
D11

Servo Power Attachment (BEC)

J8-1
J8-4
J8-7
J8-10
J8-13
J8-16

J8-2
J8-5
J8-8
J8-11
J8-14
J8-17

J8-3
J8-6
J8-9
J8-12
J8-15
J8-18

Servo1
Servo2
Servo3
Servo4
Servo5
Servo6

GND

J7-1
J7-2

GND

GND

J2-1
J2-3
J2-5
J2-7
J2-9
J2-11
J2-13
J2-15

+5V

Homeplug Adaptor Connectors

D21/5V_SCL
D20/5V_SDA

+3V3

3V3_SCL
3V3_SDA

PWM_1PWM_2PWM_3PWM_4-

J1-2
J1-4
J1-6
J1-8
J1-10
J1-12
J1-14
J1-16

D
J9-1
J9-2
J9-3

GND

+5V

PWM_1+
PWM_2+
PWM_3+
PWM_4+

J1-1
J1-3
J1-5
J1-7
J1-9
J1-11
J1-13
J1-15

+3V3

Header Sockets

+5V

D19
D18
D15
D14

J2-2
J2-4
J2-6
J2-8
J2-10
J2-12
J2-14
J2-16

D37
D36
D35
D34
D33
D32
D31
D30

Alignment Fiducials

TETHER_A/3.4D

J10-1
J10-2
J10-3

TETHER_B/3.4D

GND

J4-1
J4-3
J4-5
J4-7
J4-9
J4-11
J4-13
J4-15

GND

+5V
+5V

D5
D4
D3
D2

+3V3

J3-1
J3-3
J3-5
J3-7
J3-9
J3-11
J3-13
J3-15

J3-2
J3-4
J3-6
J3-8
J3-10
J3-12
J3-14
J3-16

D29
D28
D27
D26
D25
D24
D23
D22

J4-2
J4-4
J4-6
J4-8
J4-10
J4-12
J4-14
J4-16

ADC15
ADC14
ADC13
ADC12
ADC11
ADC10
ADC9
AREF

OpenROV
This work is released under the Creative Commons
Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

Input / Output
F

A
D1

SI4425
Q3

R1

BAT_1+/2.3B

ESC_POWER/8.2A

+5V

10K

30V
20A
10 mohm

GND
R9

C4

1K

GND

R6

D3

0.1 uF
GND/2.3B

D5

1206
3/4W or higher

16.18V 2%

0.005 1%
SMAJ22A

MBRD835L
C1

0.1 uF

INA199A2
V+

GND
1K

ADC6/5.6D
Battery 1 Current
10A Full-Scale
Range into 5V A/D

0.005 1%

10K

Aux Power Input

GND

GND
SI4485
Q1

R2

MBRD835L

GND
GND

GND

1206
3/4W or higher

D2

R7

R5

J11-1
J11-2

U2

GND

GND

REF

ESC Power Switch Bypass

J17-1
J17-2

D16/ESC_POWER_SWITCH/5.4E

6
5
1

Q2
DMN65D8L

R12

BAT_2+/2.3B

V_BAT/4.1B

+5V

+5V

30V
42 mohm
6A

10K

D4

0.1 uF
GND/2.3B

R4

16.18V 2%

0.025 1%

C2

C7

GND

C3

18K

GND

TETHER_A/2.8D

6
5

GND

GND

REF

U1

ADC5/5.6D
Battery 2 Current
10A Full-Scale
Range into 5V A/D

GND

0.1 uF

ADC0/5.6E

5
3
1

LTV-8141S

GND

REF

Non-ESC Current
2A Full-Scale
Range into 5V A/D

GND
TETHER_B/2.8E

C35

J12-1
J12-2

DNP

Power Switch

GND

R11

10.0K 1%

U3

GND

ADC4/5.6D

GND
GND

GND

GND

4
4

R3
C5

FB1

OC1

R10

V+

0.1 uF
V+

HZ0805B272R-10

30.1K 1%

INA199A2

1K

R8

INA199A2

0.1 uF

C6

Battery Voltage
(measured after protection diodes)
+20V full-scale into 5V A/D

0.1 uF

GND

OpenROV
This work is released under the Creative Commons
Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

Power Switching
F

1 uF 50V X5R

1 uF 50V X5R

1 uF 50V X5R

C9

GND

GND

C10

C11

11

SGND

CSG

FB

DAP

LM25011
GND

GND GND

GND

C13

C14

+3V3
C15

220 uF 6.3V
GND

0.1 uF
GND

VIN VOUT

2*2

GND

9.76K 1%

CS

C34

C16

SS

1K

L1
CDBA340
3A 40V

R18

LED1
Green

SW

PGD

10 uF 10V X5R

RT

U5

10 uF 10V X5R

1000 pF 50V X7R

R13

Coilcraft Inductor
15 uH 0.04 ohm 3.5A
MSS1048-153MLB

R16

R14

10

10.0K 1%

10K

BST

R17

+5V

1.95A / 1.1A

VIN

0.075 1%

133K 1%

0.1 uF

U4
GND

D6

F1
V_BAT/3.9C

R15

C12

+5V

C8

TLV1117LV33
GND

10 uF 10V X5R
GND

5V Power LED

GND
GND

GND

GND

GND

OpenROV

F
+5V Supply Adapted from the CircuitCo OpenROV Cape

This work is released under the Creative Commons

Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

5V and 3.3V Power

F

+5V

R20

A
100K

16 MHz

U6

10
31
61
80
11
32
62
81

VCC
VCC
VCC
VCC
GND
GND
GND
GND

0.1 uF

C17

C18

C22

C23

0.1 uF

0.1 uF

0.1 uF

0.1 uF
GND

D49 LED

GND

LED2
RED

1K

GND

R19

GND

GND
D42
D43
D44
D45
D46
D47
D48
D49
ADC15
ADC14
ADC13
ADC12
ADC11
ADC10
ADC9
ADC8

GND

D14
D15
D9
D8
D7
D6

D16/ESC_POWER_SWITCH
D17

42
41
40
39
38
37
36
35

PL7
PL6
PL5(OC5C)
PL4(OC5B)
PL3(OC5A)
PL2(T5)
PL1(ICP5)
PL0(ICP4)

82
83
84
85
86
87
88
89

PK7(ADC15/PCINT23)
PK6(ADC14/PCINT22)
PK5(ADC13/PCINT21)
PK4(ADC12/PCINT20)
PK3(ADC11/PCINT19)
PK2(ADC10/PCINT18)
PK1(ADC9/PCINT17)
PK0(ADC8/PCINT16)

79
69
68
67
66
65
64
63

PJ7
PJ6(PCINT15)
PJ5(PCINT14)
PJ4(PCINT13)
PJ3(PCINT12)
PJ2(XCK3/PCINT11)
PJ1(TXD3/PCINT10)
PJ0(RXD3/PCINT9)

27
18
17
16
15
14
13
12

PH7(T4)
PH6(OC2B)
PH5(OC4C)
PH4(OC4B)
PH3(OC4A)
PH2(XCK2)
PH1(TXD2)
PH0(RXD2)

(OC0A/OC1C/PCINT7)PB7
(OC1B/PCINT6)PB6
(OC1A/PCINT5)PB5
(OC2A/PCINT4)PB4
(MISO/PCINT3)PB3
(MOSI/PCINT2)PB2
(SCK/PCINT1)PB1
(SS/PCINT0)PB0

26
25
24
23
22
21
20
19

(A15)PC7
(A14)PC6
(A13)PC5
(A12)PC4
(A11)PC3
(A10)PC2
(A9)PC1
(A8)PC0

60
59
58
57
56
55
54
53

D30
D31
D32
D33
D34
D35
D36
D37

(T0)PD7
(T1)PD6
(XCK1)PD5
(ICP1)PD4
(TXD1/INT3)PD3
(RXD1/INT2)PD2
(SDA/INT1)PD1
(SCL/INT0)PD0

50
49
48
47
46
45
44
43

D38

D29
D28
D27
D26
D25
D24
D23
D22
D13
D12
D11
D10
D50/SPI_MISO
D51/SPI_MOSI
D52/SPI_SCK
D53/SPI_SS

D18
D19
D20/5V_SDA
D21/5V_SCL

9
8
7
6
5
4
3
2

D3
D2
D5

(ADC7/TDI)PF7
(ADC6/TDO)PF6
(ADC5/TMS)PF5
(ADC4/TCK)PF4
(ADC3)PF3
(ADC2)PF2
(ADC1)PF1
(ADC0)PF0

90
91
92
93
94
95
96
97

ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0

(OC0B)PG5
(TOSC1)PG4
(TOSC2)PG3
(ALE)PG2
(RD)PG1
(WR)PG0

1
29
28
70
52
51

D4

(CLKO/ICP3/INT7)PE7
(T3/INT6)PE6
(OC3C/INT5)PE5
(OC3B/INT4)PE4
(OC3A/AIN1)PE3
(XCK0/AIN0)PE2
(TXD0)PE1
(RXD0/PCIN8)PE0

1K

AREF
AVCC
AGND

71
72
73
74
75
76
77
78

R23

XTAL1

(AD7)PA7
(AD6)PA6
(AD5)PA5
(AD4)PA4
(AD3)PA3
(AD2)PA2
(AD1)PA1
(AD0)PA0

LED5
RED

34
98
100
99

GND

XTAL2

D13 LED

GND

+5V

+5V

C21

RESET

33

LED4
YELLOW

AREF

30

1K

C20

12 pF

GND

R22

C19
X1

12 pF

RESET_N

BB RX
LED

D1/UART_TX
D0/UART_RX

D39
D40
D41

ATMEGA2560-16AU

OpenROV

Adapted from Arduino Mega 2560 R3

This work is released under the Creative Commons

Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

Microcontroller
F

Populate one jumper only for

each PWM channel.

Select from maximum output

of 3.3V, 5V, or battery voltage

PWM Outputs

Humidity Sensor

+5V

+3V3

+5V

Default configuration is Battery Voltage

on Channel 1 (LED Modules), and 5V
on Channel 2 (Scaling Lasers)
R24 DNP
PWM_1+/2.2D
D7

Q4
IRLML6346TR

R36

0.1 uF
PWM_1-/2.3D

D44/5.4C

GND

30V
3.4A
63 mohm

1K
10K

R40

PAD

V_BAT/4.1B

C25

S1A

DNP

R26 0 (Jumper)

SENS1
V+

PAD

R25

GND

GND

OUT

GND

R45
ADC7/5.6D
10K

C27
0.1 uF

HIH-5031

GND

+3V3

+5V

GND
GND
R27

DNP

R29

D8

R28 0 (Jumper)
DNP

S1A

PWM_2+/2.2D

V_BAT/4.1B

Temperature Sensor

PWM_2-/2.3D

Q5
IRLML6346TR

R37
D45/5.4C
10K

GND

+5V

R41

30V
3.4A
63 mohm

1K

SENS2

DNP

R31

DNP

R32

DNP

V_BAT/4.1B

PWM_3+/2.2D

0.1 uF
GND

VDD
VOUT

C24
R30

S1A

D9

+3V3

+5V

GND

C26

MCP9701A

0.1 uF

GND

30V
3.4A
63 mohm

10K

1K
R42

Temperature Sensor
400 mV output at 0 deg C
19.5 mV / deg C slope

GND

Q6
IRLML6346TR

R38

ADC8/5.4D
10K

PWM_3-/2.3D

D46/5.4C

R44

GND

GND

+3V3

+5V

GND

R33

DNP

R34

DNP

R35

DNP

V_BAT/4.1B

S1A

D10

PWM_4+/2.2D

PWM_4-/2.3D
Q7
IRLML6346TR

R39
D12/5.6B

30V
3.4A
63 mohm

10K

R43

1K

GND

GND

OpenROV
This work is released under the Creative Commons
Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

PWM and Environment Sensors

F

GND
BB_3V3

U7
2

VCCA

1
3
4
5
6
7
8
9

A1
A2
A3
A4
A5
A6
A7
A8

10

OE

VCCB

19

B1
B2
B3
B4
B5
B6
B7
B8

20
18
17
16
15
14
13
12

1K

R46
BB_P9_11

DNP

10K

R62

GND

11

D0/UART_RX
D1/UART_TX
D53/SPI_SS
D52/SPI_SCK
D51/SPI_MOSI
D50/SPI_MISO
RESET_N

4.7K

R58

3V3_SDA
GND

GND
+5V
D21/5V_SCL
D20/5V_SDA
GND
GND

TXB0108SSOP-20 GND

0 (Jumper)

Q9

These wires are run on surface traces, that can

be cut if it is desired to repurpose the DB-25 pins.
This ground pin is tied to the ground plane at
the J1 connector, not at the DB-25 connector

FDV301N

R47

4.7K

3V3_SCL
FDV301N

D20/5V_SDA/5.6D

0.1 uF

To DB-25 Connector

+3V3

Q8
D21/5V_SCL/5.6D
C30

BB_P9_24
BB_P9_26
BB_P9_17
BB_P9_22
BB_P9_18
BB_P9_21

R57

4.7K

R56

R55
+5V

470

R21

0.1 uF

4.7K

BB TX
LED

C28

+3V3

I2C Interface
+5V

LED3
YELLOW

BeagleBone Interface

5V I2C Bus
To Headers

+3V3
3V3_SCL
3V3_SDA
GND

GND

GND

3.3V I2C Bus

To Headers

BB_SYS_RESET*
R48

ICSP Header
BeagleBone Cape ID
J13
D50/SPI_MISO
D52/SPI_SCK
RESET_N

BB_3V3/2.5B

ON

1
2

4
3

DNP
GND

A0

2
3
4

D51/SPI_MOSI

4.7K

R54

4.7K

R53

DNP

R52

DNP

R51

DNP

R50

DNP

R49

U8

GND

S1
1
2

2
4
6

GND

C29
DNP

1
3
5

+5V

VCC

A1

WP

A2

SCL

BB_P9_19/2.4B

VSS SDA

BB_P9_20/2.5B

TP1

Ground this test point to disable write-protect

DNP
GND

OpenROV
This work is released under the Creative Commons
Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV

I2C and BeagleBone Interface

F

R59

ESC_POWER/3.7A

+5V

0.005 1%
1206
3/4W or higher

C31
INA199A2
V+

GND

ESC Solder Pads

0.1 uF
3

ADC3/5.6D

ESC 1 Current
10A Full-Scale
Range into 5V A/D

5
1

GND

REF

U9

GND

ESC_1A
ESC_1B
ESC_1C

J14PWR
J14A
J14B
J14C
J14GND

ESC_2A
ESC_2B
ESC_2C

J15PWR
J15A
J15B
J15C
J15GND

ESC_3A
ESC_3B
ESC_3C

J16PWR
J16A
J16B
J16C
J16GND

GND

ESC1

ESC2

R60
ESC_POWER/3.7A
0.005 1%

+5V

1206
3/4W or higher

ESC3

C32
INA199A2

0.1 uF
V+

GND
GND

4
6

ADC2/5.6E

5
1

GND

REF

ESC 2 Current
10A Full-Scale
Range into 5V A/D

U10

GND

GND

R61
ESC_POWER/3.7A
0.005 1%
+5V

1206
3/4W or higher

E
C33

INA199A2

0.1 uF
V+

GND

4
6

ADC1/5.6E

5
1

GND

REF

ESC 3 Current
10A Full-Scale
Range into 5V A/D

F
GND

U11

OpenROV

Motor Current Sensing and ESC Connections

F

GND

This work is released under the Creative Commons

Attribution-NonCommercial-Share Alike 3.0
Unported License. All derivative works are to
be attributed to OpenROV