0 1 2 3 4 5 6 7 8 9 10 11 12 13 14

LCD
5V Regulator
Connector 5V
U5
A
3V3 J3-05 J3-06 IMU 5 O/F FB 4 L1 L2
A
J2-03 J4-02 6 PAD Vout 2
J3-08 J3-10 J13 J14 3 GND Vin 1 330µH 22µH
3V3 1 1 C6 C7 C8

19

17

15

13

11
9

7
5

3
1
SDA J1-10 2 RSTN 2 TL2575 100µF D5 330µF 100µF
J2 SCL J1-09 3 ADDR 3
4 INT 4
RIBBON_20V 1N5819
20 CON0_4 CON0_4
18

16

14

12
10

8
6

4
2
B Unreg_BotVpwr B

3V3 J3-09 J4-01

J3-07 J4-10
J4-08 D1
From iRobot
J4-05
5V
5V miniDin
Unreg_BotVpwr
ESP WiFi Module Tiva C-Series U3
1N5819 BotVpwr J1
6 1
C U2 5V 3V3 U1 5V 2 C
R7 R8 R2 3
CC3200 TM4C123GXL 3K3Ω C9 J4-04 5 1 4
560Ω 5
1 3V3 5V 21 1 3V3 5V 21 0.1µF 1K8Ω R1 6
J1-01B 2 22 2 22 3
J1-02B PB5 GND J1-02 PB5 GND 7
3 23 3 23 1K8Ω
J1-03B 4
PB0
PB1
PD0
PD1 24 J3-03B WiFi J1-03 4
PB0
PB1
PD0
PD1 24 J3-03
Con7
J1-04B 5 25 J3-04B J1-04 5 25 J3-04 D6 D7 4
J1-05B 6
PE4 PD2
26 J3-05B Address J1-05 6
PE4 PD2
26 J3-05
RED
J1-06B 7
PE5 PD3
27 J3-06B J1-06 7
PE5 PD3
27 J3-06 GRN
D J1-07B 8
PB4
PA5
PE1
PE2 28 J3-07B Jumpers J1-07 8
PB4
PA5
PE1
PE2 28 J3-07 TLP2745(TP,E) D
J1-08B 9 29 J3-08B J1-08 9 29 J3-08
J1-09B PA6 PE3 J3-09B J1-09 PA6 PE3 J3-09
10 30 10 30
J1-10B PA7 PF1 J3-10B J2-09B JMPR0
1 2 J1-10 PA7 PF1 J3-10
11 31 11 31
12
GND.1 PF2
32 J4-01B J2-10B JMPR1
1 2
12
GND.1 PF2
32 J4-01
J2-02B PB2 PF3 J4-02B J2-02 PB2 PF3 J4-02 5V
13 33 13 33
J2-03B 14
PE0 PB3
34 J4-03B J4-09B JMPR2
1 2 J2-03 14
PE0 PB3
34 J4-03
J2-04B PF0 PC4 J4-04B J2-04 PF0 PC4 J4-04
15 35 15 35
J2-05B 16
RST PC5
36 J4-05B J4-10B JMPR3
1 2 J2-05 16
RST PC5
36 J4-05 J1-07 J5
J2-06B 17
PB7
PB6
PC6
PC7 37 J4-06B J2-06 17
PB7
PB6
PC6
PC7 37 J4-06 Baseboard Power
E J2-07B 18 38 J4-07B J2-07 18 38 J4-07 E
J2-08B 19
PA4
PA3
PD6
PD7 39 J4-08B J2-08 19
PA4
PA3
PD6
PD7 39 J4-08
PROX SNSR
Switch
J2-09B 20 40 J4-09B J2-09 20 40 J4-09
J2-10B PA2 PF4 J4-10B J2-10 PA2 PF4 J4-10 CON3_0 Unreg_BotVpwr
BotVpwr

NO2
Each unit needs two headers Each unit needs two headers
J4-03 1N5819 J4 COMMON2
DK part #A121490-ND DK part #A121490-ND D4 NC2
PING NO1
R4 3K3Ω 1K8Ω
COMMON1
F 3V3 TEST POINTS NC1 F
CON3_0
3V3 R5 SW1
J6 J8 J7
Tx J1-04 J4-03 PING J3 SW DPDT
1 Rx J1-03 1 7 J1-07 PROX SNSR 1
R3
2 2 8 2
3 SDA J1-10 3 9 J1-02 SERVO 3 SERVO
4 SCL J1-09 4 10 GPIO1 4
5 5 11 5 J1-02 D3 10kΩ
Launchpad Launchpad 3V3 3V3
CON5_0
AIN8 J1-06 6 12 GPIO2
CON5_0
CON3_0
AIN9 J1-05 GPIO3
G
TX RX CON6_1
1N5819
G
SW2
J1-04B WiFi WiFi J1-03B D2
J1-03
1
2
4
5 J1-04
R6
J9
I2C BUS J10
3 6 1K8Ω Need to place jumpers on appopriate pins
RS232 RS232 U4 MAX3232
16

to use additional GPIO's or IMU J1-10 1 2 J1-09 J1-10 1 2 J1-09

Switch DPDT 1N5819 11 10 SDA SCL SDA SCL
T1IN T2IN J15 J18 CON2_0 CON2_0
VCC

12 R1OUT R2OUT 9
H 3V3 J2-06 1 2 GPIO1 J2-06 1 2 ADDR H
13 R1IN R2IN 8
14 7
T1OUT T2OUT CON_JMPR CON_JMPR J11 J12
1 C2
P1 3
C1+
2 J16 J19 J1-10 1 2 J1-09 J1-10 1 2 J1-09
4
C1- V+ SDA SCL SDA SCL
J2-07 CON2_0 CON2_0
5
9
4
8
3
7
2
6
1

5
C2+
6 J2-07 1 2 GPIO2 1 2 RSTN
C1 C2- V- 0.1µF C3
CON_JMPR CON_JMPR
GND
5
9
4
8
3
7
2
6
1

0.1µF C5 0.1µF
C4 0.1µF J17 J20
I DB9 Socket 0.1µF I
15

J2-02 1 2 GPIO3 J2-02 1 2 INT Title: iRobot Baseboard Launchpad

RS232 Serial CON_JMPR CON_JMPR
Size: Document N: Revision:
GPIO JUMPERS IMU JUMPERS
B

Date: 6/25/2019 Sheet 1 of 1

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14
 GPIO Port A Function 288 Inputs/Outputs Stepper Motor WiFi Color Key
PINS W/ RESERVED FUNCTIONS
Pin 7: LP_I2C1_SCL / IMU SCL PIN MAPPED TO IMU
Pin 6: LP_I2C1_SDA / IMU SDA PIN MAPPED TO TEST POINT
Pin 5: SSIO CLK PIN MAPPED TO LP FOR 288
Pin 4: SSIO Fss
Pin 3: SSIO Rx
Pin 2: SSIO Tx
Pin 1: UART0 Tx
Pin 0: UART0 Rx
GPIO Port B
Pin 7: IMU I2C ADDR / GPIO 1 T0CCP1 Motor Coil 4/ Add Parallel LED
Pin 6: IMU I2C RSTN / GPIO 2 MOPWM0 Motor Coil 3/ LED
Pin 5: SERVO_2 Motor Coil 2/ LED
Pin 4: IR1 AIN10 Motor Coil 1/ LED
Pin 3: PING_CAP_1 T3CCP1
Pin 2: IMU I2C INT / GPIO 3
Pin 1: LP_UART1_Tx Shaft Encoder Channel A
Pin 0: LP_UART1_Rx Shaft Encoder Channel B
GPIO Port C
Pin 7:
Pin 6:
Pin 5: OI_UART4_Tx
Pin 4: OI_UART4_Rx
Pin 3: JTAG TCK/SWCLK
Pin 2: JTAG TMS/SWDIO
Pin 1: JTAG TDI
Pin 0: JTAG TDO/SWO
GPIO Port D
Pin 7: ADDR_JMP_4
Pin 6: LCD_RW LCD_RW
Pin 3: LCD_RS LCD_RS
Pin 2: LCD_EN LCD_EN
Pin 1: Connected to other ports through R9 and R10
Pin 0:
GPIO Port E PUSH BUTTONS
Pin 5: AIN8 PB_SW6
Pin 4: AIN9 PB_SW5
Pin 3: PB_SW4 I2C0 SCL / PB_SW4
Pin 2: PB_SW3 I2C0 SDA / PB_SW3
Pin 1: PB_SW2 PB_SW2
Pin 0: PB_SW1 PB_SW1
GPIO Port F
Pin 4: LCD DATA7 LCD DATA7
Pin 3: LCD DATA6 LCD DATA6
Pin 2: LCD DATA5 LCD DATA5
Pin 1: LCD DATA4 LCD DATA4
Pin 0: USR_SW2 OI shutoff