1 2 3 4 5 6 7 8

A A

H Bridge
+5V

R48 acc. ISO13850

10K

B SafeSense R53 +SupplyOutput' B

Q8
8.2K
R8 C30 AO4407A
C31
10K 10uF
R61 Q6 470uF D
MMBT5401-C8326 D
8.2K D S
S
EnableActors
Q4 D S

G
2N7002
+SupplyOutput

GND R54 R35

10K
D1
8.2K C27 R76
R25 U9 U10 SMCJ33CA 10K
FC-D1608HOK-600H BTN8982TAAUMA1 BTN8982TAAUMA1 100nF
2k2
M3
1 GND GND 1 R62
GND R55 8.2K
PWM0 2 IN PWM1
19-213/Y2C-CQ2R2L/3T(CY) IN 2
8.2K INH INH
3 INH M1
INH 3
R24
C 2.7k
U14 C
4 OUT OUT 8 MB MA 8 OUT OUT 4 9
R11 R21 EP
1 8
1K 1K GND OUT
5 SR SR 5 2 7
IN OUT
M2 3 6
R51 DEN OUT
6 IS IS 6 4 5
10K FC-D1608HOK-600H IS NC
1K 1K
R12 7 VS VS 7 R20
BTS50301EJAXUMA1

CurrentSense
-SupplyOutput
Option to control a 6/2 valve

R28
8.2K
CurrentFeedback
C57
+3V3_IO STEERING 1nF
D D3 D
2 GND
R59 AuxOut
whatever 1K whatever' 1 5 3
+ -
Option for engangment sensor or servo D39 4 Shield
B5819W_C8598

GND
GND
M12A 5pole female

E
Power Input Connector E
POWER1
10K M12A 5pole male
R18 -SupplyOutput 2
+Battery

LED2 -3 5 1+
KT-0603R Pin5
+SupplyOutput 4 Shield

GND
10K
R19

KT-0603R
GND LED3

TITLE:
Motor Driver, Power Input REV: 1.0

Company: agopengps.discourse.group Sheet: 1/1

Date: 2020-12-11 Drawn By: GoRoNb
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8

RS485 / ModbusRTU I2C external

CN19
M8 4pole female

+3V3_IO 4 2
+3V3_IO 3 1
CN1
A +Batt M8 4pole female Sparkfunk part PRT-14417 A
TX485
RX485 C36 prot+ -
Shield
+ SM04B-SRSS-TB(LF)(SN)
FC-DA1608BK-470H10 FC-D1608UGK-520D10 1uF 4 2 QWIIC SMD JST
D10 D11 GND GND
GND B5819W_C8598 GND 3 1
R67 R66
R37 +3V3_IO - +

NC2 6
1K 1K U8
R31 R32 Shield
RxD485 1 8
RxD485 RO VCC 1K B_RS485 GND
Dir485 2 7 1 GND
RE# B A_RS485 D27 D26 GND
Dir485 3 6
TxD485 DE A I2C+
4 5 2 3.3V
TxD485 DI GND R38
D19 D18 1K externalSDA
KY3485LEEN 3 SDA QWIIC1
1K externalSDA
GND prot- externalSCL 4 SCL
externalSCL

5 NC1
D25 D24
B5819W_C8598

B CAN e.g.: http://www.amazon.de/dp/B08JV9J36T/

GND GND B

+3V3_IO
+5V +3V3_IO
GND QWIIC
TXCAN1 C40
1uF
prot+
D7 D4
U7
R89 RXCAN1 U12 B5819W_C8598
1K HT7533-1_C14289
TJA1051T/3/1J
TxCAN1 1 TXD S8 1 GND
TxCAN1 2 GND CANH 7 CN20 D28 +5V
3 VCC CANL 6 M8 4pole female
Vin 2
RxCAN1 4 RXD GND
RxCAN1 VIO 5
4 2 I2C+ 3 Vout SS34_C8678
FC-DA1608BK-470H10
D9 D8
FC-D1608UGK-520D10
3 1 WASPWR
GND C45 prot- - +
C 100nF Shield C47 C49 C
1uF 1uF
CANH1 R79
GND 10K
CANL1

CANH2 0603White light_C2290

GND GND
CANL2

+3V3_IO
+5V +3V3_IO +5V
D12
TXCAN2 C42 ZMM5V6
1uF
prot+
D17 D16
R56 RXCAN2 U19

TxCAN2
TxCAN2
1K TJA1051T/3/1J
1 TXD S8
Main connector
2 GND CANH 7
D 3 VCC CANL 6 D
RxCAN2 4 RXD
RxCAN2 VIO 5
FC-DA1608BK-470H10
D15 D14
FC-D1608UGK-520D10
B5819W_C8598
GND C41 prot-
100nF

D13
ZMM5V6

GND
CN21
M8 4pole female

+3V3_IO
+5V +3V3_IO 4 2 CANH2
P1
CANL2 KT-0603R
1 2
CANH1 CANL1 BSMD0603-050-6V +5V
3 1 3 4
TXCAN3 C46 5Vfused A_RS485 B_RS485 R84
5 6
E 1uF
WAS +5V prot+ -
Shield
+ In3
7 8
I2C+ 10K E
In1 In2 F+5V
GND 9 10
D21 D20 CANH/WAS 5Vfused F5
CANL/WAS_N 11
GND 12
R78 RXCAN3 U20 B5819W_C8598
13 14
1K TJA1051T/3/1J Pin5 whatever'
15 16
2
4
6
8

TxCAN3 1 TXD +Battery

S8 +SupplyOutput 17 18
2
4
6
8

TxCAN3 2 GND CANH 7 CANH/WAS -SupplyOutput

19 20
3 VCC CANL 6 H13 AuxOut -SupplyOutput
21 22 GND
RxCAN3 4 RXD CANL/WAS_N MA MB
VIO 5 23 24
1
3
5
7

RxCAN3
FC-DA1608BK-470H10
1
3
5
7

D23 D22 S2C-SMT 3.50/24/90LF 3.2SN BK BX

FC-D1608UGK-520D10
GND C43 WAS_N AuxOut prot-
100nF
A2541WV-2X4P
Jumpers: CAN or Analog

TITLE:
GND Serial Communication, PushIn Connector REV: 1.0

Company: agopengps.discourse.group Sheet: 1/1

Date: 2020-12-11 Drawn By: GoRoNb
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8

A A

Ardusimple Onboard Module(s)

H5 H11
Wheel Angle Sensor
A2541WV-5P A2541WV-5P
+5V
ADC

4
3
2
1

4
3
2
1
55

55
Ardu1RxD

4
3
2
1

4
3
2
1
Ardu1RxD Ardu1TxD X Y
Ardu1TxD WAS2 WAS3
FC-D1608HYK-588J FC-D1608HOK-600H

13
14
15
16
17
18
11
12

10
6
1
2
3
4
5

7
8
9
R58 R57
1K 1K

-
TX2
-
-
-
-
-

RX2
-
-
-
-
TX1
RX1

GND
-
-
-
B R13 Q1 B
A0/WAS WAS
WAS_N' Q2 WAS_N
Holes only R5 MMBT5401-C8326
10K
U10

U17 GND GND

1 10 internalSCL
ADDR SCL internalSDA
2 9
ALERT/RDY SDA

5V_IN

IOREF
ARDUSIMPLE1 3
GND VDD
8 +5V R14

GND
GND
4 7 AIN3 5.1K
AIN0 AIN3 AIN2
5 6

-
-

-
-
-
-
-
-
-
-

AIN1 AIN2

30
29
28
27
26
25
32
31
24
23
22
21
20
19

ADS1115IDGSR 5.1K
C9 C33 C14
100nF R4
100nF 1uF
+5V +3V3_IO

C GND C
1
2
3
4
55

GND H3
1
2
3
4

A2541WV-5P

H2
A2541WV-5P
H12
4
3
2
1

4
3
2
1
55

55

Ardu2RxD A2541WV-5P
4
3
2
1

4
3
2
1

Ardu2RxD Ardu2TxD Y X
Ardu2TxD

IMU
13
14
15
16
17
18
11
12

10
6
1
2
3
4
5

7
8
9

+5V
-

U15
TX2
-
-
-
-
-

RX2
-
-
-
-
TX1
RX1

GND
-
-
-

D CMPS14 3.3v-5v 1 D
externalSDA
SDA/TX 2
externalSCL
U11 SCL/RX 3
Holes only
Mode 4

Factory Use 5

GND 6
5V_IN

IOREF

ARDUSIMPLE2
GND
GND

GND
-
-

-
-
-
-
-
-
-
-

30
29
28
27
26
25
32
31
24
23
22
21
20
19

+5V +3V3_IO

E E
1
2
3
4
55

GND H4
1
2
3
4

A2541WV-5P

TITLE:
Sensors (RTK, ADC, IMU) REV: 1.0

Company: agopengps.discourse.group Sheet: 1/1

Date: 2020-12-11 Drawn By: GoRoNb
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8

USB Loops
GPIOs
+Batt
H8
GND
H6
1 1 2 2 A2541WV-2X4P
3 4 GPIO35 1 GPIO36
3 4 1 2 2
A 5 6 SPI_MOSI 3 4 SPI_CS A
5 6 3 4
7 8 SPI_MISO 5 6 SPI_SCK
7 8 5 6
7 8
+3V37 8
+Batt
Teensy 4.1
GND
A2541WV-2X4P GPIO, e. g. SPI GND
H7
A2541WV-2X4P
H1 GPIO5 1 GPIO6
R2 A2541WV-2X4P 1 2 2 GPIO40_A16
R3 5.1K U6 Teensy4.1 ETH only GPIO11 3 4
1 CC1 Teensy4.1 U1 3 4
1 2 2 CC2 AIN2 5 AIN3
3 4 GND 5 6 6
3 4 +5V 7 8
5 5 6 6 1 48
+5V 7 8
7 7 8 8 TxCAN2 GND (3.6v to 5.5v)
VIN
2 47
TxCAN2 RxCAN2 3
0_PWM_RX1_CRX2_CS1
(250mA max)
GND
46
GPIO, e. g. IBT-2 GND
RxCAN2 PWM0 1_PWM_TX1_CTX2_MISO1 3V3 RxCAN1
USBC1
PWM1
4 2_PWM_OUT2 23_PWM_A9_CRX1_MCLK1 45
TxCAN1
RxCAN1 H10
TYPE-C-31-M-12 5
EnableActors 6 3_PWM_LRCLK2 22_PWM_A8_CTX1 44
GPIO21_A7_Rx5
TxCAN1 GND +3V3A2541WV-2X4P
43
1 2 GPIO38
GPIO5 4_PWM_BCLK2 21_A7_RX5_BCLK1 GPIO20_A6_Tx5 1 2 Pin5

0 0
0 0
7 42
GPIO6 5_PWM_IN2 20_A6_TX5_LRCLK1 CurrentFeedback 3 3 4 4
B +5V 8 41 GPIO21_A7_Rx5 GPIO39 B
B1 A12 Ardu1RxD 6_PWM_OUT1D 19_PWM_A5_SCL0 Dir485 5 5 6 6
GND GND 9 40 Dir485 GPIO20_A6_Tx5 GPIO33
Ardu1RxD Ardu1TxD 7_PWM_RX2_OUT1A 18_PWM_A4_SDA0 internalSDA 7 7 8 8
10 39
Ardu1TxD GPIO11 11
8_PWM_TX2_IN1 17_A3_TX4_SDA1
38 internalSCL
USB1 B4 A9 SPI_CS 9_PWM_OUT1C 16_A2_RX4_SCL1 RxD485
VBUS VBUS 12 37 RxD485 GPIO, e. g. Serial
VCC B5 A8 SPI_MOSI 10_PWM_CS_MQSR 15_PWM_A1_RX3_SPDIF< TxD485 GND
D- CC2 SBU1 TxD485
+3V3_IO
13 36
D- B6 A7 SPI_MISO 11_PWM_MOSI_CTX114_PWM_A0_TX3_SPDIF> SPI_SCK e.g.: https://de.aliexpress.com/item/2054995985.html
D+ DP2 DN1 14 35
D+ B7 A6 12_PWM_MISO_MQSL 13_PWM_SCK_CRX1_LED
DN2 DP1 15 34
GND B8 A5 externalSCL 16 3V3 GND SafeSense
SBU2 CC1 33
B9 A4 externalSDA 17 24_PWM_A10_TX6_SCL2 41_A1_MIS01 GPIO40_A16
VBUS VBUS 32
USB A/F 90° Outside the buckle straight foot whatever 18
25_PWM_A11_RX6_SDA2 40_A16_CS1
31 GPIO39 GND
AIN 19
26_A12_MOSI1 39_DAT2_TX5
30 GPIO38
B12 A1 Ardu2RxD 27_A13_SCK1 38_DAT3_RX5 _In3
GND GND 20 29
0 0
0 0

Ardu2RxD Ardu2TxD 28_PWM_RX7 37_PWM_CMD_SCK2 GPIO36

Ethernet
21 28
Ardu2TxD RxCAN3 22
29_PWM_TX7 36_PWM_CLK_CS2
27 GPIO35
RxCAN3 TxCAN3 30_CRX3 35_DAT0_MOSI2 _In1
VBUS TxCAN3 23 26
_In2 24
31_CTX3 34_DAT1_MISO2
25 GPIO33 RJ1
32_OUT1B 33_PWM_MCLK2 HR913550A
GND
65 6 RD-
J8
C R-
5 J7 C

Ethernet
64
GND
3 J6 RX-
T+ 63
J5
62 RD+
USB2
H9
A2541WV-5P +5V +5V T-
61 2 TD-
J4
LED
4 J3 RX+
H+5V 5 R+ 60
TX-
VCC HD- 4 5 1 J2
D- J1 TX+
HD+ 3 4 TD+
D+ 3
R1 D2
+3V3 7
GND 2 D5 22 SS34_C8678 NC 1000pF
2 4X75 ohms
1 SMCJ5.0A
8 2KV
1 R26 GND
C2 1K
100uF 9
10
GND GND GND 13 13
12
USB A/F 90° Outside the buckle straight foot 14 14
11
GND
GND
D D

Protected General Propose Inputs

IN0
In1 FC-D1608HOK-600H

+5V
D6 +Battery
_In1 2
R6 R15
1K
AIN 5.1K
SS34_C8678 In2 1 5 3
Q3 + -
2N7002
In3 4 Shield
R9 C1
1K 100nF
In1
GND
GND GND GND M12A 5pole female

E E
SPI_MOSI SPI_MISO SPI_SCK SPI_CS
19-213/Y2C-CQ2R2L/3T(CY)
LED200 LED201 LED202LED203
In2 IN3 In3 IN2
19-213/Y2C-CQ2R2L/3T(CY)
KT-0603R
FC-D1608HOK-600H _In2 _In3
R200 R201 R202 R203
1K 1K 1K 1K 19-217/GHC-YR1S2/3T R23 R16
1K 1K
Q5 Q11 LED colors:
GND 2N7002 2N7002
white: power
R10 C5 R7 C3
10K 100nF 10K 100nF green/blue: serial data RxD/TxD
yellow/orange: I/O
GND GND GND GND GND GND red: error

TITLE:
Teensy 4.1, USB, Inputs REV: 1.0

Company: agopengps.discourse.group Sheet: 1/1

Date: 2020-12-11 Drawn By: GoRoNb
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8

USB-C Power Delivery Role Swap

CC2
A A
VBUS
CC1
+3V3_IO
D200 D201 D202
C202 C203
U200
1 14 220pF
CC2 CC2 PTVS26VS1UR,115
C200 2 13 C201
VBUS VCONN
3 12 220pF
GND 4
VDD VCONN
11
GND GND
GPIO35 VDD CC1
1uF 5 10 10uF MMSZ5231B
internalSCL INT_N CC1
6 9
internalSDA SCL GND
7 8
SDA GND
15
EP
FUSB302BMPX GND

B B

Q104
DC/DC 5V/9V/12/19.5V 3A
AO4407A
+Battery R113
Q200
D C113C114C115 AO4407A
+Vin_DCDC 56K C116C117C118C119C120
D +V_DCDC
S 50mV D
D S EN_1.23V VBUS
D
D S D100 Vout C108 10uF C121 C122 D S
S D203
G

C100 B5819W_C8598 U100 C123 10uF

C101 180uF LM5175PWPR 100nF R114
100pF
180uF 180uF D S MMSZ5231B

G
5
6
7
8

8
7
6
5
R102 10K R204
100nF R100 1 28

G D
S D
S D
S D

D
D
D
D
10Ω EN/UVLO SW1 R118 91K D204
10K R101 C102 2 27 Q100 Q101
VIN HDRV1 10Ω MMSZ5231B

G
3 26

S
S
S
10K 100nF C109 SED4060G D101 SED4060G
VISNS BOOT1
4 25

4
3
2
1

1
2
3
4
R103 D103 D104 100nF
MODE LDRV1
91K 5 24 GPIO36
DITH BIAS SS12/BKN 2N7002
100pF R104 6 23 C110
C RT VCC SW1! L100 SW2! Q201 C
C103 91K 7 22 B5819W_C8598
B5819W_C8598 1uF
SLOPE PGND
C104 8 21 4.7uH
SS LDRV2
100nF 9 20 C111 R206 R205
COMP BOOT2
C105 10 19 100nF C124 91K 1K
100pF R105 FB0.8V AGND HDRV2
11 18 DCDC R115 100pF

5
6
7
8

8
7
6
5
10K FB SW2
C106 12 17PGood
+5V

G D
S D
S D
S D

D
D
D
D
VOSNS PGOOD 10K R119
22nF 13 16 Q102 Q103
R106 ISNS(-) CS 10Ω

G
14 15

S
S
S
C112 SED4060G D102 SED4060G
10K ISNS(+) CSG
29

4
3
2
1

1
2
3
4
C107 100pF
EP SS12/BKN
R116 R117
0603White light_C2290 47 47
R109 1uF
Pin5 +V_DCDC R110
8 8 7 7 R111
R107 R108
6 5 9V 47 47
R208 6 5
4 3 15V R120
R207 4 3
2 1 20V RTH06R010FTP
R209 2 1
GPIO38 9V
GPIO39 15V 12K
H15
GPIO33 20V 7.5K
A2541WV-2X4P
D 9.1K D
R112
10Ω Jumpers: fixed power setting 56K

GND

ON1
Switch Mode Power Supply 5V
A2541WV-2P
1
1
2
2
E E
D300 12V U300
+Battery SS34_C8678 0603White light_C2290 +Vin TPS54331DR L300 +5V
6.8uH
+Vin 2 SW!
VIN PH 8
C304
EN_1.24 3 EN BOOT 1
R300 100nF R304 5V
C300 SS D301 C305 C306 C307
22uF
1.8K 4 SS VSENSE 5 SS34_C8678 22uF 22uF 22uF
10K 0603White light_C2290
D105
R302
100k 6 COMP GND 7
SMCJ15CA
R303
R301 R305 R42
1.8K C301 C302 C303 1.8K 1.8K
4.7nF 4.7nF 33pF

GND FB_.8V

TITLE:
DCDC_USB-PD REV: 1.0

Company: Your Company Sheet: 1/1

Date: 2021-05-02 Drawn By: GoRoNb
1 2 3 4 5 6 7 8