Pin Assignments

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Dieses Dokument ist die single source of truth für MCU‑Pinout mappings zwischen MCU‑Pins, Connectors und funktionalen Signalen. Pflege diese Datei im Firmware‑Repo (robot_firmware/docs/PINMAP.md) und halte sie synchron mit Firmware‑Konstanten (board_config.h / pinmap.h).

Version / Metadaten

  • Board name: robot_digital_v1
  • Firmware tag: v0.1
  • Author: @goldjunge91
  • Date: 2025-09-21

Legende

  • MCU_PIN: MCU pin name (z. B. GP0)
  • SIGNAL: Funktion (Encoder A/B, PWM, DIR, SERVO_PWM, I2C_SDA)
  • CONNECTOR: Connector oder Header (J1, JST1, PWR)
  • NOTES: Timer/Interrupt/Level/Anmerkungen
MCU_PIN SIGNAL CONNECTOR NOTES (timer/interrupt/alt)
GP0 UART0_TX UART0 Debug UART TX (reserved)
GP1 UART0_RX UART0 Debug UART RX (reserved)
GP2 VL6180X_SDA I2C1 VL6180X ToF Sensor SDA (FIXED - DO NOT CHANGE)
GP3 VL6180X_SCL I2C1 VL6180X ToF Sensor SCL (FIXED - DO NOT CHANGE)
GP4 MOTOR_FR_PWM_CW PICO GP4 Front Right Motor PWM CW
GP5 MOTOR_FR_PWM_CCW PICO GP5 Front Right Motor PWM CCW
GP6 MOTOR_FL_ENCODER_A PICO GP6 Front Left Encoder A (ext interrupt)
GP7 MOTOR_FL_ENCODER_B PICO GP7 Front Left Encoder B
GP8 MOTOR_FR_ENCODER_A PICO GP8 Front Right Encoder A
GP9 MOTOR_FR_ENCODER_B PICO GP9 Front Right Encoder B
GP10 MOTOR_RL_ENCODER_A PICO GP10 Rear Left Encoder A
GP11 MOTOR_RL_ENCODER_B PICO GP11 Rear Left Encoder B
GP12 MOTOR_RR_ENCODER_A PICO GP12 Rear Right Encoder A
GP13 MOTOR_RR_ENCODER_B PICO GP13 Rear Right Encoder B
GP14 MOTOR_RL_PWM_CW PICO GP14 Rear Left Motor PWM CW
GP15 MOTOR_RL_PWM_CCW PICO GP15 Rear Left Motor PWM CCW
GP16 IMU_MISO SPI0 ICM20948 MISO (FIXED - DO NOT CHANGE)
GP17 IMU_CS SPI0 ICM20948 CS (FIXED - DO NOT CHANGE)
GP18 IMU_SCK SPI0 ICM20948 SCK (FIXED - DO NOT CHANGE)
GP19 IMU_MOSI SPI0 ICM20948 MOSI (FIXED - DO NOT CHANGE)
GP20 MOTOR_FL_PWM_CW PICO GP20 Front Left Motor PWM CW
GP21 MOTOR_FL_PWM_CCW PICO GP21 Front Left Motor PWM CCW
GP22 MOTOR_RR_PWM_CW PICO GP22 Rear Right Motor PWM CW
GP26 LED_STATUS PICO GP26 Status LED / Blink LED
GP28 MOTOR_RR_PWM_CCW PICO GP28 Rear Right Motor PWM CCW

Notes and important conflicts

FINAL PIN ASSIGNMENTS (NO CONFLICTS): - UART0 Debug: GP0/GP1 (TX/RX) - RESERVED for debugging - IMU (ICM20948): SPI0 on GP16(MISO)/GP17(CS)/GP18(SCK)/GP19(MOSI) - FIXED - DO NOT CHANGE - ROS2 Topic: /imu/data_raw (sensor_msgs/Imu) - Publishing Rate: ~50 Hz - VL6180X ToF: I2C1 on GP2(SDA)/GP3(SCL) - FIXED - DO NOT CHANGE - ROS2 Topics: - /sensors/range_tof (sensor_msgs/Range) - Time-of-Flight distance - /sensors/illuminance (sensor_msgs/Illuminance) - Ambient light - Motors: 4x motors with PWM (CW/CCW) + Encoders - Front Left: PWM=GP20/GP21, Encoders=GP6/GP7 - Front Right: PWM=GP4/GP5, Encoders=GP8/GP9 - Rear Left: PWM=GP14/GP15, Encoders=GP10/GP11 - Rear Right: PWM=GP22/GP28, Encoders=GP12/GP13 - ROS2 Topics: - /joint_states (sensor_msgs/JointState) - Encoder feedback (publish) - /cmd_vel (geometry_msgs/Twist) - Velocity commands (subscribe) - /odom (nav_msgs/Odometry) - Wheel odometry (publish) - Publishing Rate: ~100 Hz - Status LED: GP26

NERF LAUNCHER - SEPARATE CONTROLLER: - Controller: Arduino Nano OR Raspberry Pi Pico (separate firmware) - Communication: Serial/UART or I2C to main Pico - Components: - 2x Brushless Motors (RS2205) with ESCs - 2x Servos (Pan/Tilt) - Trigger mechanism - Firmware: Separate repository/folder (not part of main robot firmware) - ROS2 Interface: Via main Pico or direct USB connection

  • USB console / micro-ROS transport: use TinyUSB / USB CDC (recommended). The Pico will enumerate as a serial device on the host (e.g. /dev/ttyACM0).
  • Keep PINMAP.md and firmware/.../config.h synchronized. Update this file first, then config.h when changing wiring.

ROS2 Topic Naming Convention

All firmware topics follow ROS2 best practices (REP-105):

Sensor/Component ROS2 Topic Message Type Rate Direction
ICM20948 IMU /imu/data_raw sensor_msgs/Imu 50 Hz Publish
VL6180X ToF /sensors/range_tof sensor_msgs/Range Variable Publish
VL6180X Light /sensors/illuminance sensor_msgs/Illuminance Variable Publish
HC-SR04 Ultrasonic /sensors/range_ultrasonic sensor_msgs/Range Variable Publish
Motor Encoders /joint_states sensor_msgs/JointState 100 Hz Publish
Wheel Odometry /odom nav_msgs/Odometry 50 Hz Publish
Velocity Commands /cmd_vel geometry_msgs/Twist 100 Hz Subscribe

Note: The micro-ROS agent automatically adds /rt/ prefix to firmware topics. The agent configuration includes remappings to remove this prefix for standard ROS2 compatibility.

Migration: Previous topic names using /ddd/ prefix (e.g., /ddd/imu, /ddd/odom) have been replaced with standard names. See docs/ROS2_TOPIC_MIGRATION_GUIDE.md for details.

Version / Change

  • Board name: robot_digital_v1
  • Firmware tag: v0.1
  • Author: @goldjunge91
  • Date: 2025-09-22 (updated to match config.h)

Hinweise zur Implementierung

  • Motor‑Power muss getrennt von MCU‑Power versorgt werden; gemeinsame GND verwenden.
  • MCU läuft 3.3V; Level‑Shifter verwenden, wenn peripherie 5V erwartet.
  • Encodertreiber: Prefer interrupts or PIO for high frequency.
  • USB‑CDC (TinyUSB) ist empfohlen für Host‑Kommunikation (SBC <-> Pico).
  • Serial Baud für micro-ROS: 115200 / 230400 / 460800 / 921600 — dokumentiere in firmware & bringup.

Wie aktualisieren

  • Ändere die Firmware‑Konstanten (board_config.h / pinmap.h) zuerst.
  • Aktualisiere Version in dieser Datei und erstelle ein Firmware‑Release-Tag.
  • Exportiere eine CSV für schnelle Referenz: docs/pinmap.csv

Safety Notes

  • Verwende Flyback‑Diodes und ausreichende Decoupling‑Kondensatoren an Motor‑Power Rails.
  • Schütze MCU‑Pins vor Induktiven Lasten.
  • Implementiere Watchdog in Firmware: sichere Motorabschaltung bei fehlender Host‑Kommunikation.

Changelog

  • 2025-10-09: Added ROS2 topic naming documentation, updated sensor topic names to follow REP-105
  • 2025-09-21: Template erstellt / initial pinmap
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