Raspberry PI Compute Module 4 Carrier Board

This board is designed for robotic applications at HEIG-VD, targeting the Eurobot/SwissEurobot contest.

To Do

Things to be fixed for the next version.

TO DO

• CHANGE remove MCP9803 because useless

• BUG I2C conflict LTC2990, fix address

• BUG Invert SCL et SDA sur TFA9879

• BUG RTC not working: 32.768kHz crystal : (1,4) not (1,2)

• CHANGE D3 et D4 too bright. Increase resistor to 470

• CHANGE Remove R12, R18 as GPIO above 8 are pulled-down

• CHANGE LTC2990, change monitored voltages

• CHANGE Put TFA9879 on main internal I2C1

• CHANGE Use GPIO44,45 for I2C0 (Camera0 + DSI)

• CHANGE Use GPIO22,23 for I2C 6 (Second external I2C)

• CHANGE Use GPIO2,3 for I2C1 (Internal + Camera1 + External 1)

• CHANGE Add fault detection on I2C buses

• CHANGE Add HAT EEPROM 24CW1280T-I/OT

• CHANGE Separate 2 I2C EN ? -> No, not necessary

• CHANGE Add I2C active terminator LTC4311 on both external I2C ports

• CHANGE USE I2C6 as second external I2C port

• ENHANCE Add debug test point on I2C

• CHANGE Reserve GPIO0,1 : ID_SD, ID_SC for HAT EEPROM

• CHANGE Isolate I2C0 from the rest?

• CHANGE I2CEN pull-up to EN I2C port by default -> Done in device-tree

• CHANGE Add tantalum capacitor near 5V CM4 pins

• CHANGE Add TP to 1.8 and 3.3

• CHANGE replace electrolytic capacitor with Tantalum

• CHANGE GPIO Port GND on 9-10

• CHANGE Text Bottom side upside down

• CHANGE Add semantic version number on PCB

• CHANGE WIRE GPIO24 to TPM reset?

• CHANGE Add plane near 5V CM4 pins

• CHANGE D2, D1 not visible: move to the side of the PCB

• CHANGE Console FTDI : Power and transmit LEDs

• CHANGE Reduce Test Point. Hole: 0.6

• CHANGE Plated holes near electrolytic capacitor

• CHANGE Replace EMC2101 with EMC2301 (out of the box with the Kernel)

• BUG Activity and power not working : Replace U16 with SN74AUC2G07DBVT

• CHANGE Increase size of do not trash

• CHANGE GPIO Port : indicate pin 1

• CHANGE Symbol CM4 GPIO0, GPIO1 are SDA0 and SCL0 not 1

• CHANGE Remove silkscreen CM4 on PCB

• CHANGE Change pad size for CM4

• MINOR Add CRH logo (Club de Robotique)

• CHANGE Add GPIO Expander on GPIO port, keep one PWM

• CHANGE Protect power supplies for back-powered on I2C

• ENHANCE Allow RPI to reset itself and to power off?

• ENHANCE Add USB boot connector (FSUSB42MUX)

• FIX Package for 24CW16X (SOT23-6?)

Not changed in this version

• CHANGE SD card hard to remove : move SDcard toward edge -> not really
• QUESTION CHANGE SD_CARD DETECT PIN ? -> Not existing
• CHANGE Use MCP2562 instead of MCP2561 -> Nop : 52W leadtime
• ENHANCE Add BNo085 IMU on board -> Better use a Adafruit 9-DOF BNO082

Specifications

dimensions: [90, 90] # mm
peripherals:
    ethernet:
        desc: Gigabit
        ports: RJ45 (HanRun HR911130A)
    usb:
        desc: 4x ports USB 2.0 based on USB2514 IC
        ports:
            - 2x USB A
            - Header 10 positions (2x auxiliary USB)
    display:
        desc: DSI/MIPI Interface
        ports:
            - 15-pin FPC 1 mm connector
    camera:
        desc: CSI/MIPI Interface for 2 cameras
        ports:
            - 15-pin FPC 1 mm connector (Camera 0)
            - 15-pin FPC 1 mm connector (Camera 1)
    sd-card: SD Card port for micro SD
    audio: 3W Audio amplifier for mini speaker
    uart: 5-pin connector for RPLidar A3 connection
    can: CAN bus based on the MCP2515
    i2c: 2x external ports compatible with the QWIIC standard
    debug: USB debug console with integrated FTDI
    ssd: M2 SSD NVMe port accepting size 2230 and 2242
    tpm: TPM 2.0 SLB9670
    eeprom: HAT EEPROM
    rtc: Real Time Clock based on the DS1307
    fan: Active fan controller
    power-supplies:
        3.3V: 6A
    monitoring:
        - voltages
        - currents