Romi 32U4 Control Board Schematic diagram

©2017 Pololu Corporation

www.pololu.com
Microcontroller and user interface

5V COL1
L1 AVCC Front-center expansion area
PIL101 PIL102

10 uH PIC102 COC1
C1
nRESET
PISW101 PISW102
PIC101 0.1 uF
COSW1 5V VSW 5V
SW1
Front Rear
PIJP4801 1 PIJP101 1 PIJP5301 1 PIJP4901 1 PIJP5001 1
A0 PIJP5002
PIJP4802 2 PIJP102 2 PIJP5302 2 PIJP4902 2 2
A2 PIJP5003
PIJP4803 3 PIJP103 3 PIJP5303 3 PIJP4903 3 3
AVR3V3 A3 PIJP5004
COU1 PIJP4804 4 PIJP104 4 PIJP5304 4 PIJP4904 4 4
VBUS ATmega32U4 A4 PIJP5005
COJ1 PIJP4805 5 PIJP105 5 PIJP5305 5 PIJP4905 5 5
USB Micro-B 13 6 D12 PIJP5006
PIU1013 RESET UCap PIU106 PIJP4806 6 PIJP106 6 PIJP5306 6 PIJP4906 6 6
D5 PIJP5007
PIC201 COC2
PIJP4807 7 PIJP107 7 PIJP5307 7 PIJP4907 7 7
1 5V D0 PIJP5008
VBUS PIJ101 C2 PIJP4808 8 PIJP108 8 PIJP5308 8 PIJP4908 8 8
COR2 7 14 D1 PIJP5009
R2 PIU107 VBus VCC PIU1014 1 uF PIJP4809 9 PIJP109 9 PIJP5309 9 PIJP4909 9 9
D-
2
PIJ102 PIR201 PIR202 3
PIU103 D-
34
VCC PIU1034
5V PIC202 PIJP48010 10 PIJP1010 10 PIJP53010 10
D2 PIJP49010 10
D3 PIJP50010
10
COR3 4 D14
R3 22 PIU104 D+ PIJP48011 11 PIJP1011 11 COJP53 COJP49 COJP50
3 2 D15 D16
D+ PIJ103 PIR301 PIR302 UVcc PIU102 PIJP48012 12 PIJP1012 12
nRESET
22 PIJP48013 13 PIJP1013 13
4 D17 (RXL/SS)PIU108
8 AVCC
ID PIJ104 PB0 (SS/PCINT0) COJP48 COJP1
D15 (SCK) PIU109
9 24
PIU1024
PB1 (PCINT1/SCK) AVCC
5
PIJ105 D16 (MOSI) PIU1010
10 44
PIU1044
GND PB2 (PDI/MOSI/PCINT2) AVCC
D14 (MISO) PIU1011
11
PB3 (PDO/MISO/PCINT3) COC3
D8 28 C3
PIU1028 PB4 (PCINT4/ADC11)
NC
NC
NC
NC
NC
NC

D9 29 42 AREF
PIU1029 PB5 (OC1A/OC4B/PCINT5/ADC12) AREF PIU1042 PIC301 PIC302
D10 30
PIU1030 PB6 (OC1B/OC4B/PCINT6/ADC13)

PIJ10 PIJ10 PIJ109 PIJ108 PIJ107 PIJ106 D11 12

PIU1012 PB7 (OC0A/OC1C/PCINT7/RTS)
0.1 uF
11
10
9
8
7
6

33 PE2
PE2 (HWB) PIU1033
D3 (SCL) 18
PIU1018 1 D7
PD0 (INT0/SCL/OC0B) PE6 (INT6/AIN0) PIU101
D2 (SDA) 19 Front-left expansion area
PIU1019 PD1 (INT1/SDA)
D0 20
PIU1020 PD2 (INT2/RXD1)
D1 21 31 D5
PIU1021
PD3 (INT3/TXD1) PC6 (OC3A/OC4A) PIU1031
D4 25 32 D13
PIU1025 PD4 (ICP1/ADC8) PC7 (ICP3/CLK0/OC4A) PIU1032
PD5 (TXL) 22
PIU1022 PD5 (XCK1/CTS)
D12 26
PIU1026 PD6 (T1/OC4D/ADC9
D6 27 36 A0 Rear
PIU1027 PD7 (T0/OC4D/ADC10) PF7 (ADC7/TDI) PIU1036
37 A1 AREF PD5
PF6 (ADC6/TDO) PIU1037 PIJP4401 1 PIJP4501 1
38 A2 5V D6 D13
COY1 PF5 (ADC5/TMS) PIU1038
COJP43 COJP46 COJP47 PIJP4402 2 PIJP4502 2
Y1 16 MHz 16 39 A3 Front D5 D12
PIU1016 XTAL2 PF4 (ADC4/TCK) PIU1039 PIJP4403 3 PIJP4503 3
UGnd

40 A4 D3 D7
GND
GND
GND
GND
PAD

PF1 (ADC1) PIU1040 PIJP4301 1 PIJP4601 1 PIJP4701 1 PIJP4404 4 PIJP4504 4

17 41 A5 D11 D2 D8
PIY101 PIY103 PIU1017 XTAL1 PF0 (ADC0) PIU1041 PIJP4302 2 PIJP4602 2 PIJP4702 2 PIJP4405 5 PIJP4505 5
D4 D1 D9
PIC402 PIC502 PIJP4303 3 PIJP4603 3 PIJP4703 3 PIJP4406 6 PIJP4506 6
COC4
C4 PIY102 PIY104 COC5
C5 PIU105 PIU10 5 PIU1023 PIU1035 PIU1043 PIU1045 PIJP4304 4 PIJP4604 4
A2 PIJP4704 4
D0 PIJP4407 7
D10 PIJP4507 7
5
15
23
35
43
45

A3 A1 A5
10 pF 10 pF PIJP4305 5 PIJP4605 5 PIJP4705 5 PIJP4408 8 PIJP4508 8
PIC401 PIC501 PIJP4306 6 PIJP4606 6
A4 PIJP4706 6
A0 PIJP4409 9
PE2 PIJP4509 9
COJP44 COJP45
LCD
COLCD1 5V

1
Vss PILCD101

2 PIR101
clockwise

VDD PILCD102
COR1
PIR102 R1
3 10k
Vo PILCD103
PIR103 5V 5V
4
RS PILCD104
D4
R/W
5
PILCD105 PIR601 PIR701
6 D11
COR6
R6 COR7
R7
E PILCD106 1.5k 2.21k
5V
DB0
7
PILCD107
PIR602 R8 1k
COR8
PIR702 R9 1.5k
COR9 VSW
D13 PIR801 PIR802 PIR901 PIR902
D14
DB1
8
PILCD108
PIR10 1 PID201 PID301 PISW201 PID102 PIBZ102
COBZ1
PIR402
9 COD1
D1 Buzzer
DB2 PILCD109 COR10
R10 COSW2
SW2 PIBZ101 COR4
R4

DB3
10
PILCD1010
2.21k
PID20
COD2
D2
Green
PID302
COD3
D3
Red
Button A PID10 20k
PIR10 2 PISW202 PIR401
DB4
11
PILCD1011
D14 PD5 PIR1101 PIR1102
D17 PIR1201 PIR1202 COJ13
PIQ103 COJ12
COR11 COR12 D6 BZCTRL COQ1 A1 BATLEV
R11 3k PISW301 R12 3k PISW401 PIR1402 PIJ1301 PIJ1302 PIQ101 Q1 PIJ1201 PIJ1202
DB5
12
PILCD1012
D17
PID401 COSW3
SW3 COSW4
SW4 COR14
R14
PINT701
PINT702
CONT7 COR13
R13
PIQ102 PINT601
PINT602
CONT6
PIR502
13 D13 COD4
D4
DB6 PILCD1013 Button B Button C 1k PIR1302 PIR1301 COR5
R5

DB7
14
PILCD1014
PD5 PID402 Yellow
PISW302 PISW402 PIR1401 100k 10k
PIR501
 Romi 32U4 Control Board Schematic diagram
©2017 Pololu Corporation
www.pololu.com
Motors, encoders, and inertial sensors

Motors and encoders Inertial sensors

5V 5V

PIR1701 PIR1801 PIR1901 PIR20 1

COR17 COR18 COR19 COR20 5V 5V 3V3
R17 R18 R19 R20
5V 5V
COJP7 COJP8 10k 10k 10k 10k COJP5 COJP6
6 PIJP706 6 PIJP806
PIR1702 PIR1802 PIR1902 PIR20 2 MR+ PIJP501 1
MR+ PIJP601 1
ELA ELA COJ14 MR- MR-
5 PIJP705 5 PIJP805 PIJP502 2 PIJP602 2
4 PIJP704 ELB
4 PIJP804 ELB PIJ1401 PIJ1402 PE2 PIJP503 3 PIJP603 3
PIC3802 COC38
C38
PIC3902 COC39
C39
PIC40 2 COC40
C40
PIJP703 PIJP803 CONT8 ERA PIJP504 ERA PIJP604
3 3 4 4 1 uF 0.1 uF 0.1 uF
2 PIJP702 ML+
2 PIJP802 ML+ PINT801
PINT802 A5 PIJ1502 PIJ1501 ERB PIJP505 5
ERB PIJP605 5
PIC3801 PIC3901 PIC40 1
ML- ML- COJ15
1 PIJP701 1 PIJP801
PINT902PINT901
PIJP506 6 PIJP606 6
CONT9

VSW VSW
VSW VSW
5V 5V
PIC802 COC8
C8
PIC902 COC9
C9
COU3 PIC801 0.1 uF PIC901 0.1 uF COU4
DRV8838 DRV8838 3V3
D16 PIU306
6 1
PIR1501 D15 PIU406
6 1
PIR1601
PH VM PIU301
COR15 PH VM PIU401
COR16
R15 R16
D10 PIU305
5 10k D9 5 10k
EN PIU405 EN PIR520 PIR3202
8 8
VCC PIU308
7
PIR1502 nSLPL
VCC PIU408
7
PIR1602 nSLPR
nSLEEP PIU307 nSLEEP PIU407 COR52
R52 COR32
R32
5V 5V
10k 10k
3V3
9
PIU309 GND (PPAD) OUT1
2
PIU302
ML+ PIU409
9
GND (PPAD) OUT1
2
PIU402
MR+ PIR5201 PIR3201 LSM6DS33
COU14
PIC602 COC6
C6
PIC702 COC7
C7
GPIO3 PIJ1002 PIJ1001 2
PIU1402 SCL/SPC VDD
16
PIU14016
4 3 ML- 4 3 MR- COJ10
PIU304 GND OUT2 PIU303 0.1 uF 0.1 uF PIU404 GND OUT2 PIU403
PIC601 PIC701 PINT402
PINT401 3
PIU1403 SDA/SDI/SDO
CONT4 1
VDDIO PIU1401
GPIO2 4
PIJ1102
CONT5PIJ1101 PIU1404 SDO/SA0
COJ11 7
INT1 PIU1407
PINT502
PINT501 5
PIU1405 CS
6
INT2 PIU1406
8
PIU1408 RES(GND)
9 14
PIU1409 RES(GND) NC PIU14014
10
PIU14010 RES(GND)
11
PIU14011 RES(GND)
15
PIU14015 RES
5V 5V 5V 5V 12
PIU14012 GND
13
PIU14013 GND
PIU6014 ① PIC4602 PIC4702 PIU5014 ①
ELA PIU601
COU6 R55
COR55 COJ17 C46
COC46 C47
COC47 ERA PIU501 COU5 R54
COR54 COJ16
ELX D8 ERX D7
ELB PIU603 PIR5501 PIR5502 PIJ1701 PIJ1702
PIC4601 0.1 uF PIC4701 0.1 uF ERB PIU502 PIU503 PIR5401 PIR5402 PIJ1601 PIJ1602
PIU602
1k 1k CONT10
PINT1101
PINT1102 PINT1001
PINT1002
PIU607 CONT11 PIU507

① Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1

 Romi 32U4 Control Board Schematic diagram
©2017 Pololu Corporation
www.pololu.com
Raspberry Pi connections and level shifters

RP3V3

RP3V3
COU12
CAT24C32 PIR4902 PIR50 2
VCC
8
PIU1208 COR49
R49 COR50
R50
PIC4502 COC45
C45
1 COJ9
PIU1201 A0 10k 10k PIC4501 0.1 uF
2 7
PIU1202 A1 WP PIU1207 PIJ901 PIJ902
PIR4901 PIR50 1
3
PIU1203 A2
6 ID_SC
SCL PIU1206
4 5 ID_SD
PIU1204 VSS SDA PIU1205
3V3 5V 3V3 5V

PIR4502 PIR4602 PIR4702 PIR4802

COR45
R45 COR46
R46 COR47
R47 COR48
R48
Dedicated I2C bidirectional shifters
10k 10k 10k 10k
PIQ1 02 PIQ1105
RP5V PIR4501 PIR4601 PIR4701 PIR4801
COU2
Raspberry Pi Model B+ GPIO2 (SDA) PIQ1101 PIQ1106 (SDA) D2 GPIO3 (SCL) PIQ1104 PIQ1103 (SCL) D3
2
PIU202 3 (SDA) GPIO2
5V GPIO2 PIU203 COQ11A
COQ11B
4 5 (SCL) GPIO3 Q11A Q11B
PIU204 5V GPIO3 PIU205
RP3V3 7 GPIO4
GPIO4 PIU207
29 GPIO5
GPIO5 PIU2029
1 31 GPIO6
PIU201 3V3 GPIO6 PIU2031
17
PIU2017 26 (CE1) GPIO7
3V3 GPIO7 PIU2026
24 (CE0) GPIO8
GPIO8 PIU2024
21 (MISO) GPIO9
GPIO9 PIU2021
19 (MOSI) GPIO10
GPIO10 PIU2019
23 (SCLK) GPIO11 3V3
GPIO11 PIU2023
ID_SDPIU2027
27 32 GPIO12
ID_SD GPIO12 PIU2032
ID_SCPIU2028
28 33 GPIO13 3V3
ID_SC GPIO13 PIU2033
8 (TXD) GPIO14
PIU905

5
GPIO14 PIU208 PIC3702 COJP21 COJP22 COJP23 COJP24
10 (RXD) GPIO15 COC37
GPIO15 PIU2010 C37
36 GPIO16 HA 3 4 LAPIJP2201 HB 1 6 LBPIJP2401 General-purpose dual unidirectional shifter
GPIO16 PIU2036 0.1 uF PIC3701 PIJP2101 PIU903 PIU904 PIJP2301 PIU901 PIU906
11 GPIO17
GPIO17 PIU2011 COU9A
COU9B
12
GPIO18 PIU2012
GPIO18
U9B PIU902 U9A

2
35 GPIO19
GPIO19 PIU2035
6 38 GPIO20
PIU206 GND GPIO20 PIU2038
9 40 GPIO21
PIU209 GND GPIO21 PIU2040
14 15 GPIO22
PIU2014 GND GPIO22 PIU2015
20 16 GPIO23
PIU2020 GND GPIO23 PIU2016
25 18 GPIO24
PIU2025 GND GPIO24 PIU2018
30 22 GPIO25
PIU2030 GND GPIO25 PIU2022
34 37 GPIO26
PIU2034 GND GPIO26 PIU2037
39 13 GPIO27
PIU2039 GND GPIO27 PIU2013
COJP25 COJP26
PIJP2501 LS2VCC PIJP2601 LS3VCC

PIC3502 COC35
C35
PIC3602 COC36
C36
0.1 uF 0.1 uF
PIC3501 COJP27 PIC3601 COJP28
LS2nOE PIJP2701 LS3nOE PIJP2801
Rear-right expansion area
PIU105 PIU10 PIU1 05 PIU1 01
5
1

5
1
COJP29 COJP30 COJP31 COJP32 General-purpose tristatable unidirectional shifters

PIJP2901LS2IN PIU1002
2 4 LS2OUTPIJP3001
PIU1004 PIJP3101LS3IN PIU1102
2 4 LS3OUTPIJP3201
PIU1104
COU10 COU11
PIU103
3 U10
PIU1 03 U11

3
GPIO6 GPIO4
PIJP3401 1 1 PIJP3501
(CE1) GPIO7 GPIO5
PIJP3402 2 2 PIJP3502
GPIO17 GPIO16
PIJP3403 3 3 PIJP3503
(TXD) GPIO14 GPIO2 (SDA)
PIJP3404 4 4 PIJP3504
COJP36 COJP37
(RXD) GPIO15 GPIO3 (SCL)
PIJP3405 5 5 PIJP3505
(MOSI) GPIO10 GPIO8 (CE0) GPIO23 GPIO18
PIJP3406 6 6 PIJP3506 PIJP3601 1 1 PIJP3701
RP3V3 (SCLK) GPIO11 GPIO9 (MISO) GPIO24 GPIO19
PIJP3407 7 7 PIJP3507 PIJP3602 2 2 PIJP3702
RP5V GPIO13 GPIO12 GPIO25 GPIO20
PIJP3408 8 8 PIJP3508 PIJP3603 3 3 PIJP3703
GPIO26 GPIO21
PIJP3409 9 9 PIJP3509 PIJP3604 4 4 PIJP3704
GPIO27 GPIO22
PIJP34010 10 10 PIJP35010 PIJP3605 5 5 PIJP3705

COJP34 COJP35
Romi 32U4 Control Board Schematic diagram
©2017 Pololu Corporation
www.pololu.com
Power switch circuit

VBAT
PIJP?01 1 COJP10 COJP11
GATE VRP
PIJP?02 2
PWRA VSW
PIJP?03 3 PIJP1001 1 1 PIJP1101
PWRB PIJP?04 4 PIJP1002 2 2 PIJP1102
ON Input structure of OFF and CTRL inputs
PIJP?05 5 PIJP1003 3 3 PIJP1103
OFF PIJP?06 6 PIJP1004 4 4 PIJP1104
CTRL PIJP?07 PIJP1005 PIJP1105
7 5 5
COJP?
COJP9
BAT2+
PIJP901 1
PIJP902 2 PI47k02
CTRL CO47k
47k
COJP7 PI47k01
OFF
COR9 COQ3B PIQ3B03
PIJP701 PIR901 PIR902PIQ3B01

Simplified switch schematic COJP5 PIJP501 4.7k PIQ3B02

COQ4 PIQ403 PIR802
PIQ401
COR8
100k
VBAT
VBAT VRP VSW PIQ402 PIR801
PIQ209
PIQ208
PIQ207
PIQ206
PIQ205 PIQ203
PIQ202
PIQ201 PIQ103
PIQ102
PIQ101 PIQ109
PIQ108
PIQ107
PIQ106
PIQ105
PIR10 2
PIJ301 PIQ204 COQ2 COR10
100k
PIQ104 COQ1
GATE
COJ3A
COJ3B slide switch
BAT1 (4x AA) PISW203
PIR10 1 PIJ802
COJ4
PIJ302 PISW201
COSW2
PISW202

Btn Jmp
PINT20
COJ8
PIJ401 PIJ402
PIJ801 PINT201CONT2
PIJ502
CONT1
PINT10 COJ5
PINT102 PIJ501 ON
Latching Input structure of ON input
BAT2+
OFF Circuit
PIJ30 COJP6 PIQ503
CTRL PIJP601 PIQ501
COQ5
BAT2 (2x AA)

PIJ304 PWRA
PISW101
COSW1
PISW102
PWRB
ON PIQ502
pushbutton
 Romi 32U4 Control Board Schematic diagram
©2017 Pololu Corporation
www.pololu.com
Power regulators and distribution

VREG
VSW VSW VCCREG COJP19 COJP20
REGSHDN STAT
PIJP1901 1 1 PIJP2001
PG
PIR3901 PIJP1902 2 2 PIJP2002

COR39
R39
PID901 PIJP1903
PIJP1904
3
4
3
4
PIJP2003
PIJP2004
COD9
D9
270k PIJP1905 5 5 PIJP2005

PIR3902 COU8
MP4423H
PID902 COR40
R40
REGEN 7 4
PIU807 IN BST PIU804 PIR4001 PIR4002

PIQ10 3 22.1 PIC1902 COC19

C19
REGSHDN
PIQ1001 COQ10
Q10
PIC20 2 COC20
C20
PIC2102 COC21
C21
PIC2 02 COC22
C22
REGEN 3
PIU803 EN/SYNC 0.1 uF
220 uF 10 uF 0.1 uF
PIC1901 VREG
PIC20 1 PIC2101 PIC2 01
PIQ10 2 PG 8
PIU808 PG SW
6
PIU806 PIL201 PIL202
VCCREG COL2
L2 5.1 uH
2 5V
PIU802 VCC COJP38 COJP39
COR41
R41 COR42
R42 41.2k COC30
C30
PIC30 2 COC31
C31
PIC3102 COC32
C32
PIC3202 COC33
C33
PIC3 02 COC34
C34
PIC3402 PIJP3801 1 1 PIJP3901
COC27
C27
PIC2702 COC28
C28
PIC2802 5
PIU805 GND FB
1
PIU801 PIR4101 PIR4102 PIR4201 PIR4202 0.1 uF 10 uF 10 uF 4.7 uF NP PIJP3802 2 2 PIJP3902
10 uF 0.1 uF COC29
C29
PIC2902 51.1k
PIC30 1 PIC3101 PIC3201 PIC3 01 PIC3401 PIJP3803 3 3 PIJP3903
PIC2701 PIC2801 0.1 uF PIR4301 PIR4302
PIC2901 R43 18.2k
COR43
PIC2402 C24
COC24
PIC2502 C25
COC25
PIC2602 C26
COC26
PIC2302 C23
COC23
PIR4 02 PIJ802 1 uF 10 uF 4.7 uF 220 uF
COR44
R44 PINT301CONT3 PIC2401 PIC2501 PIC2601 PIC2301
VREG VBUS VREG select
PIJ801 PINT302
13.3k COJ8
PIR4 01
PIR2 01 PIR2301
COR22
R22 COR23
R23
10k 2.21k
PIR2 02 PIR2302
PID501 COD5
D5 PID601 COD6
D6
Blue Green
PID502 PID602
Ideal diode circuit

5V RP5V 5V
COQ2 COQ3 3V3 AVR3V3
Q2 Q3 COU15
3.3 V LDO COR53
R53
PIQ202 PIQ203 PIQ303 PIQ302 1 5
PIU1501 IN OUT PIU1505 PIR5302 PIR5301
3
PIU1503 ON/OFF
4
PIQ201 PIQ301 NC PIU1504
PIR5102 NP
2
PIQ406 PIQ405 PIC4302 PIU1502 GND
PIC4 02 PIC4202
COQ4A
COQ4B
Q4A PIQ402 PIQ403 Q4B COC43
C43 COC44
C44 COC42
C42 COR51
R51
1 uF PIC4301 1 uF PIC4 01 PIC4201 10 uF NP
STAT RPSHDN Matched pair PIQ401 PIQ404 PIR5101
VREG VBUS 5V
COU7
TPS2113A PIR2602
8
PIU708 IN1
7
OUT PIU707 COR26
R26
PIR2702 PIR2802
100k R27
COR27 R28
COR28
6
PIU706 IN2 10k 47k
PIR2102 STAT
1
PIU701
PIR2601
R21
COR21
PIC10 2 C10
COC10
PIC1 02 C11
COC11
PIC120 C12
COC12
PIR2701 PIR2801
3
100k PIU703 VSNS 10 uF 10 uF 0.1 uF
ILIM
4
PIU704
PIC10 1 PIC1 01 PIC1201
PIR2101
2
PIU702 EN
PIR2401 PIC1302 COC13
C13
PIC1402 COC14
C14
PIC1502 COC15
C15
PIR2502 PIC1602 COR24
R24 PIC1301 10 uF PIC1401 0.1 uF PIC1501 0.1 uF
COC16 RP5V 3V3
C16 270
COR25 5
R25 1 uF PIC1601 PIU705 GND PIR2402
9 RP3V3 3V3 3V3 3V3
20k PIU709 PAD COJP4 COJP3 COJP40 COJP54
PIR2501 RPSHDN PIJP401 1 PIJP301 1 PIJP4001 1 PIJP5401 1
PIJP402 2 PIJP302 2 PIJP4002 2 PIJP5402 2
PIJP403 3
PIJP404 4