Controller

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)

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.

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.

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.

COMM connector

COMM connector is a combination of UART, SPI and I2C interfaces. Beside +5 V supply it contains +3,3 V supply which supplies up to 700 mA. COMM connector is intended to connect with ARM-CAN User Interface and that is why it also features 2 ADC and 1 PWM pins, which are used by the joystick and speaker.

JTAG connector

ARM-CAN Controller board has standard 20-pin JTAG connector with essential pins for programming and debugging. Although the kit contains ARM-CAN Programmer other standard ARM debuggers can be used.

CAN connector(s)

ARM-CAN Controller board contains two identical CAN 10-pin header connectors. Both of the connectors are on the same bus, therefore CAN network can be formed by daisy-chaining several Controllers. There is no CAN signal terminator on the Controller board so external terminators should be used.

• Schematics