1

1

2

2

3

3

4

4

5

5

6

6

D D

C C

B B

A A

Title

Number RevisionSize

B

Date: 1/12/2010 Sheet of File: E:\My Dropbox\..\BlockDiagram.SchDoc Drawn By:

3.3V GPS

MOSFET

Battery

Master Power

3.3V PSX

regulators3.3V/5V LDO

ATmega32

Adj LDO reg

On/Off

12Vdc

Solar

Power Flow

Charger

ATtiny48

Power Mode

PC6Reset Switch

SW1-3

PD0

PD1-3

PD4-5

PD7

PC7

PB1PB6

PC0-5, Spares

PB7SPI PortPB2-5

PA2

PB0 RC Servos (5)

PA0,PA1,

ATtiny I/O

Con

trol

PWM

Cha

rge

IR

Power Switch

PA3

ATmega Communications

SPI0 LCD (128x32)PSX Remote

ATmega32

MOSFETPower2.

7V/5

V/

Syst

em

Remote5V RCServos (5)

ATtiny48

Sensors (2)

Con

trol

3.3VRS232 xcvr

DriversStep Motor

ATtiny48Smart Peripherals (2)

UART0 RS232 TransceiverUART1

GPSRS232 Transceiver (aux)

ATmega32

Battery VoltageAD0Battery Current

Charger Voltage

AD1

AD2

AD3AD4AD5AD6AD7

PB7PC0

PB3

PB4

PD4

LCD A0

I2C

2.7V/5V Standby/

PB6 SPI BusPB5

Slave Select DemuxPB0

PB2

PC2-7

ATmega I/O

PB1

Spares

I2C 20-pin Aux Header

PC1Stepper Motor DriversBattery Charger PWM

PD5 Red LEDPD6 Green LEDPD7 Speaker PWM

LCD Backlight

ResetReset Switch

Green LED

Operate Mode

Bump Sensors

PD6 Bump Sensor Power

I/O Connectors

AVR ISP (6-pin header)

PSX Remote (female)Charger ConnectorBattery Connector

DB9 Smart Sensors (2x female)

DB9 RS-232 (male)RS-232 Aux (3-pin header)GPS (5-pin JST)Aux Header (20-pin shrouded)RC Servos (5x 3-pin header)Stepper Motors (2x 4-pin Molex hdr)IR Sensors (2x 4-pin Molex hdr)

www.team-critter.com 324 CEENBoT System Schematic

1 4David Gilson

1

1

2

2

3

3

4

4

5

5

6

6

D D

C C

B B

A A

Title

Number RevisionSize

B

Date: 12/17/2009 Sheet of File: C:\My Dropbox\..\324CPU.SchDoc Drawn By:

PB5(PCINT13/MOSI)6

PB7(PCINT15/SCK)8 PB6(PCINT14/MISO)7

PB0(PCINT8/XCK0/T0)1

PB1(PCINT9/CLKO/T1)2

PB2(PCINT10/INT2/AIN0)3

PB4(PCINT12/OC0B/SS)5 PB3(PCINT11/OC0A/AIN1)4

RESET9

GND11 VCC10

XTAL212

PD0(PCINT24/RXD0)14 XTAL113

PD2(PCINT26/RXD1/INT0)16 PD1(PCINT25/TXD0)15

PC7(TOSC2/PCINT23) 29

PC5(TDI/PCINT21) 27PC6(TOSC1/PCINT22) 28

PC0(SCL/PCINT16) 22

GND 31

AVCC 30

PA0(ADC0/PCINT0) 40

AREF 32

PC4(TDO/PCINT20) 26

PC2(TCK/PCINT18) 24PC3(TMS/PCINT19) 25

PC1(SDA/PCINT17) 23

PA3(ADC3/PCINT3) 37

PD7(OC2A/PCINT31) 21

PA1(ADC1/PCINT1) 39

PA2(ADC2/PCINT2) 38

PD4(PCINT28/XCK1/OC1B)18 PD3(PCINT27/TXD1/INT1)17

PD6(PCINT30/OC2B/ICP)20 PD5(PCINT29/OC1A)19

PA4(ADC4/PCINT4) 36

PA6(ADC6/PCINT6) 34PA5(ADC5/PCINT5) 35

PA7(ADC7/PCINT7) 33

ATMEGA324P-20PU 3.20-250U1

PD7PC0PC1PC2PC3PC4PC5PC6PC7

PA7PA6PA5PA4PA3PA2PA1PA0

PD6PD5PD4PD3PD2PD1PD0

PB7PB6PB5PB4PB3PB2PB1PB0

RESET

0.071S1M-RST T-RST

135

246

ISP

0.056

J1

PB6(MISO)PB7

M-RST

PB5

CPU-VCC

BSS1380.026

BSS138

Q1

CPU-VCC

CPU-VCC

CPU-VCC

VBATFS

VCC5B

PB42.7V/5V ENABLE

PD7

IN1

GN

D4

FB 5

OUT 8

TPS715A01DRBT3.2uA 0.90-250

U2

20MHz0.154Y1

22pF0.008

C3

AT-1220-TWT-5V-R0.528

LS1

VREGS

VCC3V3

PB0 A1

B2

C3

OE2A4

OE2B5

OE16

Y7 7GND8 Y6 9Y5 10Y4 11Y3 12Y2 13Y1 14Y0 15

VCC 16SN74HC138D

0.075U5

PB1PB2

CPU-VCC

CPU-VCC

/SS0/SS1/SS2/SS3

T-RST

66

77

88

11

22

33

44

55

99

1010

1616

1717

1818

1111

1212

1313

1414

1515

1919

2020

2626

2121

2222

2323

2424

2525

Populate 2x100.29J3

VCC5BVCC3V3

PA7PA6PA5PA4

PC1PC0 MEGA324 SCL

MEGA324 SDA

MEGA324 ADC4MEGA324 ADC5MEGA324 ADC6MEGA324 ADC7

PB6 MEGA324 MISO

PB7 MEGA324 SCKPB5 MEGA324 MOSI

/SS3 SLAVE SELECT 3

SLR-343MGT320.061

GN

D3

330R3

330R4PD6

PD5

BAT54CWT1G0.023-3k

D1

VDCIN

/SS4/SS5

CPU-VCC

/SS4 SLAVE SELECT 4/SS5 SLAVE SELECT 5

Pin

PA2PA1PA0

MEGA324 Function

ADC Charger VoltageADC Battery VoltageADC Battery Current

PA5PA4PA3

ADC SpareADC SpareADC Spare

PB0PA7PA6

Out: Slave Sel Mux AADC SpareADC Spare

PB1 Out: Slave Sel Mux BPB2 Out: Slave Sel Mux CPB3 Out: LCD A0PB4 Out: 0=2.7V Low Pwr/1=5V Full PwrPB5PB6PB7

MOSIMISOSCK

VBATFVCHG

Pin

PC2PC1PC0

MEGA324 Function

Out: Left Motor ASDASCL: J1, J2, J3

PC5PC4PC3

Out: Right Motor AOut: Left Motor COut: Left Motor B

PD0PC7PC6

In: RXD0Out: Right Motor COut: Right Motor B

PD1 Out: TXD0PD2 In: GPS/Aux RXD1PD3 Out: GPS/Aux TXD1PD4 Out: Charger PWM OC1BPD5PD6PD7

Out: LED RedOut: LED GreenOut: Speaker PWM OC2A

PD3PD2 MEGA324 RXD1

MEGA324 TXD1

1%80

6kR

7

1%52

4kR

8

1%1MR9

10kR2

PA3 MEGA324 ADC3

PCB2.21

www.team-critter.com 324V2.21

2 4

CPU-VCC

AREF

11

22

33

0.021J2

1kR6

1kR5

4.75kR1

CPU-VCC

IN3

GN

D1

OUT 4

OUT 2

NCP1117ST33T3G0.147

U4

IN3

GN

D1

OUT 4

OUT 2

NCP1117ST50T3G0.147

U3AVCC5A

VREGSVREGS

BAT54CWT1G0.023-3k

D4

M-RST

David Gilson

/SS6

TP7

TP5

TP4

TP0TP1TP2

TP6

TP29TP30TP31TP32TP33TP34

22pF0.008

C4

0.00390.1uFC2

0.00390.1uFC1

0.0039

0.1uFC7

10uF

0.056.3V

C1010uF

0.056.3V

C9B10uF

0.056.3V

C9A

10uF

0.056.3V

C8

10uF

0.056.3V

C5

SLR-343VRT320.061

RD

D2

IN3

GN

D1

OUT 4

OUT 2

NCP1117ST50T3G0.147

U3B

SCK

MOSI

TP3

1

1

2

2

3

3

4

4

5

5

6

6

D D

C C

B B

A A

Title

Number RevisionSize

B

Date: 4/7/2010 Sheet of File: C:\DB-ceenbotinfront\..\324IOP1.SchDoc Drawn By:

0.01ohm0.21

R15

VBATF

10kR16

CPU-VCC

619k1%

R17

VCC2V5

1%10kR18 1%619kR19

max ideal gain = 5.0V / 80mV = 62.5, actual = 61.9

3

41

52

0.131FAN4174IP5XU7

i(R16) = i(R17) = (Vref - V(R15)) / (R16 + R17)

ibat

vn-

V(U7-) = V(U7+) = V(R15) + i(R16) * R16

iR16

iR19

Vo = (V(U7-)/R18) * (R18 + R19)

iR17

i(R15)Mode

0Aidlecharge

discharge

4A

-4A

V(R15)

0V40mV

-40mV

i(R16)

3.975uA3.911uA

4.038uA

V(U7+)

39.75mV79.11mV

0.381mV

Vo

2.500V4.976V

0.024V

PA0

Battery and Current Monitor

TP8

0.0141uFC12

VCC2V5

AREF

VCC3V3

324 TXD

324 RXD

0.91

10

V- 6

14

C1-3

11

C1+1

7

VCC 16

GND15

9 8

1312

V+ 2

C2-5 C2+4

TRS3232CPWU8

PD1

PD0RXD0

TXD01

2

3

4

5

6

7

8

911

10

PC CON DB9M0.29J11

MISO

MOSI

GNDSCK

VCC5

/RST

/SS4

SDA

SCLPB7

VCC5B

/SS4PB6

PB5

MISO

MOSI

GNDSCK

VCC5

/RST

/SS5

SDA

SCLPB7

VCC5B

/SS5PB6

PB5

CPU-VCCCPU-VCC

/SS2 PB4SPD1SPD2

SPD3

SPD5SPD6

SPD4SPA2

SPA3SPB6SPB7

SPB0SPB1

SPC2SPC3SPC4SPC5

SPC7

SPA1SPC0SPC1

SPA0

10k

R20

CPU-VCC

330

R14

1 12 23 34 45 5

0.341J13

GPS

ENABLE2.2kR47

GLOBALSAT EM-408

GND

VCCTXRX

VCC5A

VCC5A

PD2PD3

RXD1TXD1

PD2

PD3

RXD1

TXD1 AUXTXD

AUXRXD

AUXTXDAUXRXD

PB6MISO

SCK SCLK

MOSI

T-RST

VCC3V3

C2-6

C2+7

C1+8

V01

V12

V23

V34

V45

C1-9

VOUT10

VSS11

VDD12

SDA13

SCL14

A015

RST16

CS1B17

BL-K18

BL-A19

NHD-C12832A1Z6.49-100LCD1

330R41

4.75

kR

40

PB3-3V3

LCD BL: Vd=2.729V @ 10mA

VCC3V3

128X32

/SS0-3V3/LCD SS

PB5-3V3MOSIPB7-3V3SCLK

RS

10uF0.05

6.3VC17

SPB7

CPU-VCC

6 6

7 7

8 8

1 1

2 2

3 3

4 4

5 5

9 9

10 10

11 11

12 12

13 13

14 14

15 15

0.133J7

VCC5A

PWM

4R

C S

ERV

O P

WM

PO

RT

S SPB0

SPB1

PWM

3PW

M2

PWM

1PW

M0 SPA2

SPA3

SPB6

3 4

U9B

VBATF

0.127-2.5kMBRS340T3G

D6

7.5kR42

33k

R43

0.026BSS138Q2

BAT54CWT1G0.023-3k

D8

0.00633nF

C18

Battery ChargerComponent Cost (@ 1k qty) $0.84

10uF

0.09525V

C19

PD4

VCHG

VCHG

VCHG

11

22

12V CHARGERJ12A

VCHG

SDR1006-470KL

47uH0.364

L1

VBATF

PA1

VDCIN

PA2

PC0

PC1

PC0

PC1

0.1515

4AF1

PB3

PB5MOSI

PB7SCLK

RS

4.75kR352.2kR34

PB3-3V3

PB5-3V3

PB7-3V32.2kR371kR36

4.75kR392.2kR38

4.75

k

1%R26

4.75

k

1%R24

1%47

5kR

281%

1MR

27

1%

4.75

kR4

610

k

1%

R45

1

2

3

4

5

6

7

8

911

10

DB9F0.35J5

SPD3

SPD1

SPD2

11

22

33

44

222320410.083

LEFT BUMP SENSOR

J8

4.75kR29

VBATF

VBATFS

BSS1380.026

BSS138

Q4PB42.7V/5V ENABLE

20.5kR21

Battery Power Switch

Graphic LCD

Bump Sensors

VCC5BUMP

SPD5

SPD4

VCC5B

VCC5BUMP

BSS1380.026

BSS138

Q6SPD6

20.5kR22

Bump Sensor Power Switch

20.5k

R23

20.5kR44

0.332-2.5kFDS4935BZQ5A

ON/OFF0.19-500

S6

FDS4935BZQ5B

VREGS

0.332-2.5kFDS4935BZQ3A

0.332-2.5kFDS4935BZQ3B

1011870.29

J12B

VDCIN

/SS0/SS0 4.75kR312.2kR30/SS0-3V3

1K0.086

R25

DATA1

CMD2

+9V3

GND4

VCC5

ATT6

CLK7

NC8

ACK9

GND10

2.75J4

NC

NC

PB6PB5-3V3

/SS1-3V3PB7-3V3

VCC3V3

SS

NC

MISOMOSI

SCK

VCC3V3

PSX REMOTE

/SS1/SS1 4.75kR332.2kR32/SS1-3V3

PCB2.21

www.team-critter.com 324V2.21

3 4David Gilson

VCC5B

PA3(PCINT27)6

PB7(PCINT7)8 PB6(PCINT6/CLKI)7

PD3(INT0/PCINT18)1

PD4(PCINT20/T0)2

PA2(PCINT26)3

GND5 VCC4

PD5(PCINT21/T1)9

PD7(PCINT23/AIN1)11 PD6(PCINT22/AIN0)10

PB0(PCINT0/CLKO/ICP1)12

PB2(PCINT2/SS/OC1B)14 PB1(PCINT1/OC1A)13

PB4(PCINT4/MISO)16 PB3(PCINT3/MOSI)15

(RESET/PCINT14)PC6 29

(ADC4/SDA/PCINT12)PC4 27

(ADC5/SCL/PCINT13)PC5 28

(ADC7/PCINT25)PA1 22

(PCINT17)PD1 31(PCINT16)PD0 30

(SCK/PCINT5)PB5 17

(INT0/PCINT18)PD2 32

(ADC3/PCINT11)PC3 26

(ADC1/PCINT9)PC1 24

(ADC2/PCINT10)PC2 25

(ADC0/PCINT8)PC0 23

(PCINT15)PC7 20

GND 21

AVCC 18

(ADC6/PCINT24)PA0 19

ATTINY48-AU 1.10U6

TP18 SPD7

0.74

SCK 6

VCC 8

HOLD 7CS1

SO2

WP3

SI 5GND4

AT25DF041A-SSU13

VCC3V3

/SS6/SS6 4.75kR132.2kR12/SS6-3V3

/SS6-3V3

PB7-3V3PB6

PB5-3V3

SSMISO

MOSISCK

VCC3V3

TP13

TP14

TP15

TP9

TP10

TP11

TP12

TP16

TP17

TP19

TP20

TP21

TP22TP23TP24TP25TP26TP27TP28

0.00390.1uFC11

ebayBT1

0.00390.1uFC20

0.00390.1uFC21

0.00390.1uFC22

0.00390.1uF

C230.00390.1uF

C24

0.0039

0.1uFC6

0.00390.1uFC31

0.0039

0.1uFC32

0.0039

0.1uFC34

0.00390.1uFC13

0.0039

0.1uFC14

16V/25V470uF

0.092

C33

10uF0.05

6.3VC16

10uF0.05

6.3VC15SLR-343MGT320.061ROHM

GND5

0.127-2.5kMBRS340T3G

D7

11

22

33

RS232 HDR1X30.021J10

1

2

3

4

5

6

7

8

911

10

DB9F0.35J6

11

22

33

44

222320410.083

LEFT BUMP SENSOR

J9

SW-A

0.071S3

SW-B

0.071S4

SW-C

0.071S5

0.101CD40106BCMX

1 2

U9A

5 6

U9C

9 8

U9D

11 10

U9E

13 12

U9F

1nFC35

10uF

0.09525V

C36

1

1

2

2

3

3

4

4

5

5

6

6

D D

C C

B B

A A

Title

Number RevisionSize

B

Date: 12/18/2009 Sheet of File: C:\My Dropbox\..\324IOP2.SchDoc Drawn By:

VSS 37

NC1

D12

FS9

NC10

IN23

EN4

V+5

V+6

NC7

AGND8

IN111

V+12

V+13

OUT114

OUT115

NC16

OUT117

OUT118 NC 19FB 20PGND 21PGND 22PGND 23PGND 24PGND 25PGND 26D2 27NC 28OUT2 29OUT2 30NC 31OUT2 32OUT2 33V+ 34V+ 35CCP 36

MC33887PNB2.90

U10

M2B

M1C

M1A

M1A

VREGS

PC2

PC3

PC4

PC5

PC6

PC7

VREGS

16V/25V470uF

0.092

C25

VREGS

RDGNBLBK

M1B

M1C

M2A RDGNBLBK

M2B

M2C

M1B

200

R48

VREGS

VCC5A

M2A

200

R49

VREGS

VCC5A

M2C

200

R50

VREGS

VCC5A

VCC5A

VCC5A

VCC5A

Pin

PA2PA1PA0

TINY48 Function

Out: RC Servo PWM0ADC SpareADC Spare

PA5PA4PA3

N/AN/AOut: RC Servo PWM1

PB0PA7PA6

Out: RC Servo PWM3N/AN/A

PB1 Out: RC Servo PWM4PB2 In: Slave Sel Active LowPB3 In: MOSIPB4 Out: MISOPB5PB6PB7

In: SCLKOut: RC Servo PWM2LCD Backlight (1=On, 0=Off)

Pin

PC2PC1PC0

TINY48 Function

ADC SpareADC SpareADC Spare

PC5PC4PC3

ADC SpareADC SpareADC Spare

PD0PC7PC6

In: ATmega324 PB4 0=2.7V, 1=5VOut: LED GreenIn: Reset

PD1 In: SW-A (0=Pressed)PD2 In: SW-B (0=Pressed)PD3 In: SW-C (0=Pressed)PD4 In: Right Bump Sensor (0=Blocked)PD5PD6PD7

In: Left Bump Sensor (0=Blocked)Out: Bump PowerEnable (1=Enabled)Spare PCB2.21

www.team-critter.com 324V2.21

4 4David Gilson

0.00633nFC28

0.00633nFC29

0.00633nFC30

16V/25V470uF

0.092

C26

16V/25V470uF

0.092

C27

11

22

33

44

222320410.083

LEFT MOTOR

J14

11

22

33

44

222320410.083

RIGHT MOTOR

J15

VSS 37

NC1

D12

FS9

NC10

IN23

EN4

V+5

V+6

NC7

AGND8

IN111

V+12

V+13

OUT114

OUT115

NC16

OUT117

OUT118 NC 19FB 20PGND 21PGND 22PGND 23PGND 24PGND 25PGND 26D2 27NC 28OUT2 29OUT2 30NC 31OUT2 32OUT2 33V+ 34V+ 35CCP 36

MC33887PNB2.90

U11

VSS 37

NC1

D12

FS9

NC10

IN23

EN4

V+5

V+6

NC7

AGND8

IN111

V+12

V+13

OUT114

OUT115

NC16

OUT117

OUT118 NC 19FB 20PGND 21PGND 22PGND 23PGND 24PGND 25PGND 26D2 27NC 28OUT2 29OUT2 30NC 31OUT2 32OUT2 33V+ 34V+ 35CCP 36

MC33887PNB2.90

U12