Pololu Corporation Balboa 32U4 Quick start guide

PE6 (INT6/AIN0) 1
UVcc 2
D-
3D+
4
UGnd
5
UCap 6
VBus
7
PB0 (SS/PCINT0)
8PB1 (PCINT1/SCK)
9PB2 (PDI/MOSI/PCINT2)
10 PB3 (PDO/MISO/PCINT3)
11
PB7 (OC0A/OC1C/PCINT7/RTS)
12
RESET
13
VCC 14
GND
15
XTAL2
16
XTAL1
17
PD0 (INT0/SCL/OC0B)
18 PD1 (INT1/SDA)
19 PD2 (INT2/RXD1)
20 PD3 (INT3/TXD1)
21
PD5 (XCK1/CTS)
22
GND
23
AVCC 24
PD4 (ICP1/ADC8)
25
PD6 (T1/OC4D/ADC9
26 PD7 (T0/OC4D/ADC10)
27
PB4 (PCINT4/ADC11)
28 PB5 (OC1A/OC4B/PCINT5/ADC12)
29 PB6 (OC1B/OC4B/PCINT6/ADC13)
30
PC6 (OC3A/OC4A) 31
PC7 (ICP3/CLK0/OC4A) 32
PE2 (HWB) 33
VCC 34
GND
35
PF7 (ADC7/TDI) 36
PF6 (ADC6/TDO) 37
PF5 (ADC5/TMS) 38
PF4 (ADC4/TCK) 39
PF1 (ADC1) 40
PF0 (ADC0) 41
AREF 42
GND
43
AVCC 44
PAD
45
ATmega32U4
VBUS 1
D- 2
D+ 3
ID 4
GND 5
NC
6NC 7NC 8NC 9NC
10 NC
11
USB Micro-B
1 uF
C2
5V
AVCC
0.1 uF
C3
VBUS
22
R2
22
R3
nRESET
D14
D16
D15
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
AREF
PE2
A2
A3
A4
A5
D17
Y1 16 MHz
10 pF
C4 10 pF C5
SW1
(SDA)
(SCL)
(MOSI)
(MISO)
(SCK)
AVR3V3
(RXL/SS)
(TXL)
L1
10 uH
0.1 uF
C1
5V AVCC
D2
Green
1.5k
R6
PD5
5V
D4
Yellow
2.21k
R10
D13
D3
Red
2.21k
R7
D17
5V
SW3
Button B SW4 Button C
1kR8
3kR11 3kR12
1.5kR9
SW2
ButtonA
D14
1k
R14
BuzzerD1
Q1
100k
R13
5V
D6
20k
R4
VSW
BATLEV
10k
R5
A1BZCTRL
Vss 1
VDD 2
Vo 3
RS 4
R/W 5
E6
DB0 7
DB1 8
DB2 9
DB3 10
DB4 11
DB5 12
DB6 13
DB7 14
LCD 5V
clockwise
10k
R1
D4
D11
D14
D17
D13
PD5
Expansion areas
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and user interface
1 2
3V3
1
2
4
3
5
6
7
8
VSW
5V
D2
D3
D5
A4
A3
VSW
5V
A2
A0
D12
D0
D1
1
2
4
3
5
6
7
8
9
Right
1
2
4
3
5
6
7
8
Top
1
2
4
3
5
6
7
8
VSW
5V
D2
D3
D5
A4
A3
VSW
5V
A2
A0
D12
D0
D1
1
2
4
3
5
6
7
8
Left
1
2
4
3
5
6
7
8
VSW
5V
D2
D3
D5
A4
A3
VSW
5V
A2
A0
D12
D0
D1
1
2
4
3
5
6
7
8
Bottom
1
2
4
3
5
6
7
8
VSW
5V
D2
D3
D5
A4
A3
VSW
5V
A2
A0
D12
D0
D1
1
2
3
VSW
PIBZ101
PIBZ102
COBZ1
PIC101
PIC102
COC1
PIC201
PIC202
COC2
PIC301 PIC302
COC3
PIC401
PIC402
COC4
PIC501
PIC502
COC5
PID101
PID102
COD1
PID201
PID202
COD2
PID301
PID302
COD3
PID401
PID402
COD4
PIJ101
PIJ102
PIJ103
PIJ104
PIJ105
PIJ106 PIJ107 PIJ108 PIJ109 PIJ1010 PIJ1011
COJ1
PIJ1201 PIJ1202
COJ12
PIJ1301 PIJ1302
COJ13
PIJP101
PIJP102
PIJP103
PIJP104
PIJP105
PIJP106
PIJP107
PIJP108
COJP1
PIJP201
PIJP202
PIJP203
PIJP204
PIJP205
PIJP206
PIJP207
PIJP208
COJP2
PIJP301 PIJP302
COJP3
PIJP701
PIJP702
PIJP703
PIJP704
PIJP705
PIJP706
PIJP707
PIJP708
COJP7
PIJP801
PIJP802
PIJP803
PIJP804
PIJP805
PIJP806
PIJP807
PIJP808
COJP8
PIJP1801
PIJP1802
PIJP1803
COJP18
PIJP3601
PIJP3602
PIJP3603
PIJP3604
PIJP3605
PIJP3606
PIJP3607
PIJP3608
COJP36
PIJP3701
PIJP3702
PIJP3703
PIJP3704
PIJP3705
PIJP3706
PIJP3707
PIJP3708
COJP37
PIJP4101
PIJP4102
PIJP4103
PIJP4104
PIJP4105
PIJP4106
PIJP4107
PIJP4108
PIJP4109
COJP41
PIJP4201
PIJP4202
PIJP4203
PIJP4204
PIJP4205
PIJP4206
PIJP4207
PIJP4208
COJP42
PIL101 PIL102
COL1
PILCD101
PILCD102
PILCD103
PILCD104
PILCD105
PILCD106
PILCD107
PILCD108
PILCD109
PILCD1010
PILCD1011
PILCD1012
PILCD1013
PILCD1014
COLCD1
PINT601 PINT602
CONT6
PINT701 PINT702
CONT7
PIQ101
PIQ102
PIQ103
COQ1
PIR101
PIR102
PIR103
COR1
PIR201 PIR202
COR2
PIR301 PIR302
COR3
PIR401
PIR402
COR4
PIR501
PIR502
COR5
PIR601
PIR602
COR6
PIR701
PIR702
COR7
PIR801 PIR802
COR8
PIR901 PIR902
COR9
PIR1001
PIR1002
COR10
PIR1101 PIR1102
COR11
PIR1201 PIR1202
COR12
PIR1301 PIR1302
COR13
PIR1401
PIR1402
COR14
PISW101 PISW102
COSW1
PISW201
PISW202
COSW2
PISW301
PISW302
COSW3
PISW401
PISW402
COSW4
PIU101
PIU102
PIU103
PIU104
PIU105
PIU106
PIU107
PIU108
PIU109
PIU1010
PIU1011
PIU1012
PIU1013
PIU1014
PIU1015
PIU1016
PIU1017
PIU1018
PIU1019
PIU1020
PIU1021
PIU1022
PIU1023
PIU1024
PIU1025
PIU1026
PIU1027
PIU1028
PIU1029
PIU1030
PIU1031
PIU1032
PIU1033
PIU1034
PIU1035
PIU1036
PIU1037
PIU1038
PIU1039
PIU1040
PIU1041
PIU1042
PIU1043
PIU1044
PIU1045
COU1
PIY101
PIY102
PIY103
PIY104
COY1

VSW 5V
MLREAR
MLFRONT
D10
D16 0.1 uF
C8 0.1 uF C9
VSW VSW
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
VSW 5V
MRFRONT
MRREAR
D9
D15
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
10k
R15 10k R16
nSLPRnSLPL
0.1 uF
C6 0.1 uF C7
5V 5V
5V
ERA
ERB D7
5V
ELA D8
ELB 1k
R55
1k
R54
0.1 uF
C47
5V
ELX ERX
1 uF
C38 0.1 uF C39
3V3
0.1 uF
C40
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Motors, encoders, and inertial sensors
Motors and encoders Inertial sensors
②Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
② ②
3.3 nF
C50 3.3 nF C51
PE2 A5
GND 3
VS 1
Q2
0.1 uF
C49
10k
R19
GND 3
VS 1
Q2
10k
R20
ERBERA
GND 3
VS 1
Q2
0.1 uF
C48
10k
R17
5V
GND 3
VS 1
Q2
10k
R18
ELBELA
5V 5V 5V 5V 5V
①Hall effect sensor ICs in SOT-23 packages, e.g.AH1751
GPIO3
GPIO2
3V3
0.1 uF
C41
3V3
VDDIO 1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5INT2 6
INT1 7
RES(GND)
8RES(GND)
9RES(GND)
10 RES(GND)
11
GND
12 GND
13
NC 14
RES
15
VDD 16
LSM6DS33
VDD_IO
6SCL/SPC 1
GND
3
SDA/SDI/SDO 11
SDO/SA1 9
CS 10
RES(GND)
2INT 7
RES(GND)
12
VDD
5
C1
4
DRDY 8
LIS3MDL
10k
R32 10k
R52
3V3
① ① ①①
Left motor Right motor
PIC601
PIC602
COC6
PIC701
PIC702
COC7
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC3801
PIC3802
COC38
PIC3901
PIC3902
COC39
PIC4001
PIC4002
COC40
PIC4101
PIC4102
COC41
PIC4701
PIC4702
COC47
PIC4801
PIC4802
COC48
PIC4901
PIC4902
COC49
PIC5001
PIC5002
COC50
PIC5101
PIC5102
COC51
PIJ301
PIJ302
COJ3A
PIJ303
PIJ304
COJ3B
PIJ1001 PIJ1002
COJ10
PIJ1101 PIJ1102
COJ11
PIJ1401 PIJ1402
COJ14
PIJ1501 PIJ1502
COJ15
PIJ1601 PIJ1602
COJ16
PIJ1701 PIJ1702
COJ17
PINT401 PINT402
CONT4
PINT501 PINT502
CONT5
PINT801 PINT802
CONT8
PINT901 PINT902
CONT9
PINT1001 PINT1002
CONT10
PINT1101 PINT1102
CONT11
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801
PIR1802
COR18
PIR1901
PIR1902
COR19
PIR2001
PIR2002
COR20
PIR3201
PIR3202
COR32
PIR5201
PIR5202
COR52
PIR5401 PIR5402
COR54
PIR5501 PIR5502
COR55
PIU301
PIU302
PIU303 PIU304
PIU305
PIU306
PIU307
PIU308
PIU309
COU3
PIU401
PIU402
PIU403 PIU404
PIU405
PIU406
PIU407
PIU408
PIU409
COU4
PIU501
PIU502
PIU503
PIU507
PIU5014
COU5
PIU601
PIU602
PIU603
PIU607
PIU6014
COU6
PIU1301
PIU1302
PIU1303
PIU1304
PIU1305
PIU1306
PIU1307
PIU1308
PIU1309
PIU13010
PIU13011
PIU13012
COU13
PIU1401
PIU1402
PIU1403
PIU1404
PIU1405
PIU1406
PIU1407
PIU1408
PIU1409
PIU14010
PIU14011
PIU14012
PIU14013
PIU14014
PIU14015
PIU14016
COU14
PIU1601
PIU1602
PIU1603
COU16
PIU1701
PIU1702
PIU1703
COU17
PIU1801
PIU1802
PIU1803
COU18
PIU1901
PIU1902
PIU1903
COU19

WP 7
A0
1A1
2A2
3
VCC 8
VSS
4SCL 6
SDA 5
CAT24C32
RP3V3
ID_SD
ID_SC
10k
R49 10k R50
3V3
1
5V
2GPIO2 3
5V
4GPIO3 5
GND
6
GPIO4 7
GPIO14 8
GND
9
GPIO15 10
GPIO17 11
GPIO18 12
GPIO27 13
GND
14 GPIO22 15
GPIO23 16
3V3
17
GPIO24 18
GPIO10 19
GND
20
GPIO9 21
GPIO25 22
GPIO11 23
GPIO8 24
GND
25
GPIO7 26
ID_SD
27 ID_SC
28
GPIO5 29
GND
30
GPIO6 31
GPIO12 32
GPIO13 33
GND
34
GPIO19 35
GPIO16 36
GPIO26 37
GPIO20 38
GND
39
GPIO21 40
Raspberry Pi Model B+
RP5V
RP3V3
GPIO2
GPIO3
GPIO4
GPIO5
GPIO6
GPIO7
GPIO12
GPIO13
GPIO16
GPIO17
GPIO18
GPIO19
GPIO20
GPIO21
GPIO22
GPIO23
GPIO24
GPIO25
GPIO26
GPIO27
(SDA)
(SCL)
(CE1)
(CE0)
(MISO)
(MOSI)
(SCLK)
(TXD)
(RXD)
GPIO8
GPIO9
GPIO10
GPIO11
GPIO14
GPIO15
ID_SD
ID_SC
RP3V3
0.1 uF
C45
Q11BQ11A
10k
R45 10k R46
5V3V3
10k
R47 10k R48
5V3V3
D2(SDA) D3(SCL)GPIO2 GPIO3(SDA) (SCL)
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Raspberry Pi connections and level shifters
Dedicated I2C bidirectional shifters
General-purpose tristatable unidirectional shifter
3V3
0.1 uF
C46
1
2GPIO2
GPIO3
(SDA)
(SCL)
42
53 1
U10
LSIN LSOUT
LSVCC
LSnOE
0.1 uF
C35
RPSHDN
1
2
3
4
TSVCC
TSOUT
TSIN
TSnOE
PIC3501
PIC3502
COC35
PIC4501
PIC4502
COC45
PIC4601
PIC4602
COC46
PIJ901 PIJ902
COJ9
PIJP1101
PIJP1102
COJP11
PIJP?01
PIJP?02
PIJP?03
PIJP?04
COJP?
PIJP?01
PIQ1101
PIQ1102
PIQ1106
COQ11A
PIQ1103 PIQ1104
PIQ1105
COQ11B
PIR4501
PIR4502
COR45
PIR4601
PIR4602
COR46
PIR4701
PIR4702
COR47
PIR4801
PIR4802
COR48
PIR4901
PIR4902
COR49
PIR5001
PIR5002
COR50
PIU201
PIU202 PIU203
PIU204 PIU205
PIU206
PIU207
PIU208
PIU209
PIU2010
PIU2011
PIU2012
PIU2013
PIU2014 PIU2015
PIU2016
PIU2017
PIU2018
PIU2019
PIU2020
PIU2021
PIU2022
PIU2023
PIU2024
PIU2025
PIU2026
PIU2027
PIU2028
PIU2029
PIU2030
PIU2031
PIU2032
PIU2033
PIU2034
PIU2035
PIU2036
PIU2037
PIU2038
PIU2039
PIU2040
COU2
PIU1001
PIU1002
PIU1003
PIU1004
PIU1005
COU10
PIU1201
PIU1202
PIU1203
PIU1204 PIU1205
PIU1206
PIU1207
PIU1208
COU12

pushbutton
Latching
Circuit
Simplified switch schematic
slide switch
Btn Jmp
ON
OFF
CTRL
GATE
VBAT VRP VSW
100k
PWRA PWRB ON
OFF
CTRL 47k
100k
4.7k
Input structure of OFF and CTRL inputs
Input structure of ON input
VBAT
GATE
PWRA
PWRBON
OFF
CTRL
1
2
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Power switch circuit
1
2
3
1
2
3
VBAT
PI47k01
PI47k02
CO47k
PIJ301
PIJ302
COJ3A
PIJ801
PIJ802
COJ8
PIJP501
COJP5
PIJP601
COJP6
PIJP701
COJP7
PIJP901
PIJP902
COJP9
PIJP?01
PIJP?02
PIJP?03
COJP?
PIJP?01
PIJP?02
PIJP?03
PINT201
PINT202
CONT2
PIQ101PIQ102PIQ103
PIQ104
PIQ105PIQ106PIQ107PIQ108PIQ109
COQ1
PIQ201PIQ202PIQ203
PIQ204
PIQ205PIQ206PIQ207PIQ208PIQ209
COQ2
PIQ3B01
PIQ3B02
PIQ3B03
COQ3B
PIQ401
PIQ402
PIQ403
COQ4
PIQ501
PIQ502
PIQ503
COQ5
PIR801
PIR802
COR8
PIR901 PIR902
COR9
PIR1001
PIR1002
COR10
PISW101 PISW102
COSW1
PISW201
PISW202
PISW203
COSW2

5VVREG VBUS
0.1 uF
C12
0.1 uF
C15
STAT 1
EN
2
VSNS
3ILIM 4
GND
5
IN2
6OUT 7
IN1
8
PAD
9
TPS2113A
1 uF
C16
100k
R21
20k
R25 270
R24
STAT
0.1 uF
C14
10 uF
C10
10 uF
C13
10 uF
C11
D5
Blue
10k
R22
D6
Green
2.21k
R23
VBUSVREG
Q4A Q4B
Q3
10k
R27 47k R28
5V RP5V
Ideal diode circuit
Q2
100k
R26
RPSHDN
IN
1ON/OFF
3OUT 5
NC 4
GND
2
3.3 V LDO
5V
1 uF
C43 1 uF C44
3V3
10 uF
C42 NP R51
PG
REGSHDN
Matched pair
REGEN
REGSHDN
270k
R39
VSW
Q10
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Power regulators and distribution
5.1 uH
L2
BST 4
SW 6
VCC
2
EN/SYNC
3
FB 1 GND
5
IN
7
PG
8
MP4423H
51.1k
R41
24.9k
R42
4.7k
R44
22.1
R40
0.1 uF
C19
0.1 uF
C29
10 uF
C27
10 uF
C21
10 uF
C31
10 uF
C25
10 uF
C32
4.7 uF
C26
4.7 uF
C33
180 uF
C20
220 uF
C23
VREG
D9
VCCREG
VCCREG
PG
0.1 uF
C28
0.1 uF
C22
1 uF
C24
0.1 uF
C30
SW
FB
BST
VSW
REGEN
220 uF
C34
220 uF
C36
VREG
1
2
1
2
3
STAT
1
2
PIC1001
PIC1002
COC10
PIC1101
PIC1102
COC11
PIC1201
PIC1202
COC12
PIC1301
PIC1302
COC13
PIC1401
PIC1402
COC14
PIC1501
PIC1502
COC15
PIC1601
PIC1602
COC16
PIC1901
PIC1902
COC19
PIC2001
PIC2002
COC20
PIC2101
PIC2102
COC21
PIC2201
PIC2202
COC22
PIC2301
PIC2302
COC23
PIC2401
PIC2402
COC24
PIC2501
PIC2502
COC25
PIC2601
PIC2602
COC26
PIC2701
PIC2702
COC27
PIC2801
PIC2802
COC28
PIC2901
PIC2902
COC29
PIC3001
PIC3002
COC30
PIC3101
PIC3102
COC31
PIC3201
PIC3202
COC32
PIC3301
PIC3302
COC33
PIC3401
PIC3402
COC34
PIC3601
PIC3602
COC36
PIC4201
PIC4202
COC42
PIC4301
PIC4302
COC43
PIC4401
PIC4402
COC44
PID501
PID502
COD5
PID601
PID602
COD6
PID901
PID902
COD9
PIJP1901
PIJP1902
COJP19
PIJP2001
PIJP2002
PIJP2003
COJP20
PIJP?01
PIJP?02
COJP?
PIL201 PIL202
COL2
PIQ201
PIQ202 PIQ203
COQ2
PIQ301
PIQ302 PIQ303
COQ3
PIQ401
PIQ402
PIQ406
COQ4A
PIQ403
PIQ404
PIQ405
COQ4B
PIQ1001
PIQ1002
PIQ1003
COQ10
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PIR2301
PIR2302
COR23
PIR2401
PIR2402
COR24
PIR2501
PIR2502
COR25
PIR2601
PIR2602
COR26
PIR2701
PIR2702
COR27
PIR2801
PIR2802
COR28
PIR3901
PIR3902
COR39
PIR4001 PIR4002
COR40
PIR4101 PIR4102
COR41
PIR4201 PIR4202
COR42
PIR4401
PIR4402
COR44
PIR5101
PIR5102
COR51
PIU701
PIU702
PIU703
PIU704
PIU705
PIU706
PIU707 PIU708
PIU709
COU7
PIU801
PIU802
PIU803
PIU804
PIU805
PIU806
PIU807
PIU808
COU8
PIU1501
PIU1502
PIU1503 PIU1504
PIU1505
COU15