Controller

Board front view

Board back view

Features

MCU

Texas Instruments (former Luminary Micro) LM3S5632
32-bit 50Mhz ARM Cortex-M3
128 KB flash, 32 KB SRAM
CAN 2.0 controller
USB 2.0 host/device controller

Ports

4 x ADC input (0-3 V measuring range)
4 x PWM output (drives up to 600 mA load)
2 x CAN connector on 1 bus (10 pin header)
1 x SPI
1 x I2C
1 x UART
1 x JTAG (20 pin header)
1 x USB device / host (Micro-AB)

Every pin has IO functionality (except PWM) ADC and PWM have 3 pin headers with ground and +5 V

On-board features

1 x 350 mW RGB LED
1 x Push-button
ZigBee expansion board (optional)

Electrical

Supply voltage 5 ± 0,25 V
Powered from CAN bus, DC jack or USB device port
Can draw up to 2 A from CAN bus or DC jack and up to 500 mA from USB port after enumeration. This includes on-board electronics.
Reverse voltage and overcurrent (2 A) protection.

Physical

Dimensions 61 x 50,6 x 13,2 mm
Weight ~18 g
Optional housing (increases height)

Connectors

ARM-CAN connectors

The following chapters describe each of the connectors on ARM-CAN controller module. To recognize the connectors the controller has to be held like shown on the picture.

PWM

PWM1 connector

PWM2 connector

PWM1/2 connector has standard RC-servo compatible pinout. In both connectors there are two vertically placed RC-servo pinouts (signal, supply, ground) therefore up to 4 RC-servos can be driven. Controller board supplies up to 2 A total (not counting other consumers) from PWM supply pins. PWM1/2 connector can also be used to drive DC motor which should be connected between leftmost PWM signal pins. Those signals are driven by 5V 600 mA MOSFET half-bridges and can form a full H-bridge. Because of transistors PWM signals can only be used as output.

ADC

ADC1 connector

ADC2 connector

Both ADC1 and ADC2 connector have two RC-servo like pinouts. There are ground, supply and input-output pins. It is easy to connect simple sensors like potentiometer, thermistor, IR distance sensor and ultrasonic distance sensor to these pins. IO pins can be used as +5 V compatible inputs or outputs with +3,3 V high level. These connectors can also be used to control RC-servos with software PWM when the servo accepts 3,3 V signal.