Pololu A-Star 32U4 Series Quick start guide

PE6 (INT6/AIN0) 1
UVcc 2
D-
3
D+
4
UGnd
5
UCap 6
VBus
7
PB0 (SS/PCINT0)
8
PB1 (PCINT1/SCK)
9
PB2 (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
C3
5V
L1
10 uH
0.1 uF
C5
AVCC
5V AVCC
0.1 uF
C4
VBUS
22
R2
22
R1
nRESET
D14
D16
D15
PD5
D2
Green
1.5k
R4
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
5V
D1
Yellow
2.21k
R3
D13
AREF
PE2
A2
A3
A4
A5
D17
D3
Red
2.21k
R7
D17
5V
Y1 16 MHz
10 pF
C1
10 pF
C2
SW1
SW2 SW3
1k
R5
3k
R6
3k
R9
1.5k
R8
SW4
D14
1k
R10
BZ1
buzzer
D4
Q1
100k
R13
5V
D6
105k
R12
VIN
15k
R11
A1
1 2
1 2
(SDA)
(SCL)
(MOSI)
(MISO)
(SCK)
AVR3V3
(RXL/SS)
(RXL/SS)
(TXL)
(TXL)
MISO
1VCC 2
SCK
3
MOSI
4
RST
5GND 6
AVRISP
5V
nRESET
D14 (MISO)
D16
D15
(MOSI)
(SCK)
A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge
©2016 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and motor drivers
Page 1 of 3
1
2
4
3
5
6
7
8
9
10
11
12
13
14
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D13
1
2
4
3
5
6
7
8
9
10
11
12
13
14
1
2
4
3
5
6
7
8
9
10
11
12
13
14
PE2
nRESET
D14
D16
D15
D17
PD5
AREF
A5
A4
A3
A2
A1
A0
1
2
4
3
5
6
7
8
9
10
11
12
13
14
1
2
4
3
5
6
7
8
1
2
4
3
5
6
1
2
4
3
5
6
7
8
1
2
4
3
5
6
BZCTRL
BATLEV
M1B
M1A
M2B
M2A
D9
D12
D10
PE2
VIN
0.1 uF
C23
VIN
0.1 uF
C25
DIR
6
COM
1
COM
12
VDD 10
GND 9
EN
8
FAULT
7
M2 11
M1 2
VDD 3
SNS
4
PWM
5
GND (PAD) 13
MAX14870
DIR
6
COM
1
COM
12
VDD 10
GND 9
EN
8
FAULT
7
M2 11
M1 2
VDD 3
SNS
4
PWM
5
GND (PAD) 13
MAX14870
VIN VIN
100k
R35
100k
R36
PIBZ101
PIBZ102
COBZ1
PIC101
PIC102
COC1
PIC201
PIC202
COC2
PIC301
PIC302
COC3
PIC401 PIC402
COC4
PIC501
PIC502
COC5
PIC2301
PIC2302
COC23
PIC2501
PIC2502
COC25
PID101
PID102
COD1
PID201
PID202
COD2
PID301
PID302
COD3
PID401
PID402
COD4
PIJ101
PIJ102
PIJ103
PIJ104
PIJ105
PIJ106PIJ107PIJ108PIJ109 PIJ1010PIJ1011
COJ1
PIJ701 PIJ702
PIJ703
PIJ704
PIJ705 PIJ706
COJ7
PIJP101 PIJP102
COJP1
PIJP201 PIJP202
COJP2
PIJP301
PIJP302
PIJP303
PIJP304
PIJP305
PIJP306
PIJP307
PIJP308
PIJP309
PIJP3010
PIJP3011
PIJP3012
PIJP3013
PIJP3014
COJP3
PIJP401
PIJP402
PIJP403
PIJP404
PIJP405
PIJP406
PIJP407
PIJP408
COJP4
PIJP501
PIJP502
PIJP503
PIJP504
PIJP505
PIJP506
COJP5
PIJP601
PIJP602
PIJP603
PIJP604
PIJP605
PIJP606
PIJP607
PIJP608
PIJP609
PIJP6010
PIJP6011
PIJP6012
PIJP6013
PIJP6014
COJP6
PIJP801
PIJP802
PIJP803
PIJP804
PIJP805
PIJP806
PIJP807
PIJP808
PIJP809
PIJP8010
PIJP8011
PIJP8012
PIJP8013
PIJP8014
COJP8
PIJP901
PIJP902
PIJP903
PIJP904
PIJP905
PIJP906
COJP9
PIJP1001
PIJP1002
PIJP1003
PIJP1004
PIJP1005
PIJP1006
PIJP1007
PIJP1008
COJP10
PIJP1101
PIJP1102
PIJP1103
PIJP1104
PIJP1105
PIJP1106
PIJP1107
PIJP1108
PIJP1109
PIJP11010
PIJP11011
PIJP11012
PIJP11013
PIJP11014
COJP11
PIL101 PIL102
COL1
PIQ101
PIQ102
PIQ103
COQ1
PIR101 PIR102
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
PIR3501
PIR3502
COR35
PIR3601
PIR3602
COR36
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
PIU301
PIU302
PIU303
PIU304
PIU305
PIU306
PIU307
PIU308
PIU309
PIU3010
PIU3011
PIU3012 PIU3013
COU3
PIU401
PIU402
PIU403
PIU404
PIU405
PIU406
PIU407
PIU408
PIU409
PIU4010
PIU4011
PIU4012 PIU4013
COU4
PIY101
PIY102
PIY103
PIY104
COY1

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+
RPI5V
RPI3V3
GPIO2
GPIO3
GPIO4
GPIO5
GPIO6
GPIO7
GPIO12
GPIO13
GPIO16
GPIO17
GPIO18
GPIO19
GPIO20
GPIO21
GPIO22
GPIO23
GPIO24
GPIO25
GPIO26
GPIO27
1
2
4
3
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
GPIO4
GPIO17
GPIO18
GPIO27
GPIO22
GPIO23
GPIO24
GPIO25
GPIO5
GPIO6
GPIO12
GPIO13
GPIO16
GPIO19
GPIO20
GPIO21
GPIO26
(SDA)
(SCL)
(CE1)
(CE0)
(MISO)
(MOSI)
(SCLK)
(TXD)
(RXD)
GPIO8
GPIO9
GPIO10
GPIO11
GPIO14
GPIO15
GPIO2
GPIO3
(SDA)
(SCL)
(CE0)GPIO8
(CE1)GPIO7
(MISO)
(MOSI)
(SCLK)GPIO11
GPIO10
GPIO9
(TXD)
(RXD)
GPIO14
GPIO15
ID_SD
ID_SC
Q2BQ2A
10k
R14
10k
R16
5VRPI3V3
10k
R18
10k
R19
5VRPI3V3
D2 (SDA) D3 (SCL)GPIO2 GPIO3(SDA) (SCL)
61
52
U7A
43
U7B
42
53 1
U8
RPI3V3
42
53 1
U9
Dedicated I2C bidirectional shifters
HA LA HB LB
LS3IN LS3OUT
LS3VCC
LS3nOE
LS2IN
LS2VCC
LS2nOE
LS2OUT
General-purpose dual unidirectional shifter
General-purpose tristatable unidirectional shifters
RPI3V3
0.1 uF
C26
WP 7
A0
1
A1
2
A2
3
VCC 8
VSS
4SCL 6
SDA 5
CAT24C32
RPI3V3
ID_SD
ID_SC
10k
R15
10k
R17
A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge
©2016 Pololu Corporation
www.pololu.com
Schematic diagram
Raspberry Pi connections and level shifters
Page 2 of 3
0.1 uF
C6
0.1 uF
C7
PIC601
PIC602
COC6
PIC701
PIC702
COC7
PIC2601
PIC2602
COC26
PIJ1001 PIJ1002
COJ10
PIJP1201
PIJP1202
PIJP1203
PIJP1204
PIJP1205
PIJP1206
PIJP1207
PIJP1208
PIJP1209
PIJP12010
PIJP12011
PIJP12012
PIJP12013
PIJP12014
PIJP12015
PIJP12016
PIJP12017
PIJP12018
PIJP12019
PIJP12020
PIJP12021
PIJP12022
PIJP12023
PIJP12024
PIJP12025
COJP12
PIJP1301
COJP13
PIJP2401
COJP24
PIJP2501
COJP25
PIJP2601
COJP26
PIJP2701
COJP27
PIJP2801
COJP28
PIJP2901
COJP29
PIJP3001
COJP30
PIJP3101
COJP31
PIJP3201
COJP32
PIJP3301
COJP33
PIJP3401
COJP34
PIJP3501
COJP35
PIQ201
PIQ202
PIQ206
COQ2A
PIQ203PIQ204
PIQ205
COQ2B
PIR1401
PIR1402
COR14
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801
PIR1802
COR18
PIR1901
PIR1902
COR19
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
PIU701
PIU702
PIU705
PIU706
COU7A
PIU703 PIU704
COU7B
PIU801
PIU802
PIU803
PIU804
PIU805
COU8
PIU901
PIU902
PIU903
PIU904
PIU905
COU9
PIU1001
PIU1002
PIU1003
PIU1004 PIU1005
PIU1006
PIU1007
PIU1008
COU10

REGEN
REGSHDN
300k
R30
VIN
Q7
5VVREG VBUS
0.1 uF
C13
0.1 uF
C14
STAT 1
EN
2
VSNS
3
ILIM 4
GND
5
IN2
6
OUT 7 IN1
8
PAD
9
TPS2113A
1 uF
C8
100k
R22
20k
R23
270
R26
STAT
0.1 uF
C12
10 uF
C9
10 uF
C10
10 uF
C11
D5
Blue
10k
R20
D6
Green
2.21k
R21
VBUSVREG
Q3A Q3B
Q4
10k
R24
47k
R25
5V RPI5V
Ideal diode circuit
Q8
100k
R27
RPISHDN
A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge
©2016 Pololu Corporation
www.pololu.com
Matched pair
1
2
3.5 mm
1
2
4
3
5
6
M1A
M1B
M2A
M2B
PWR+VIN
1
2
3.5 mm
3
1
2
DC barrel jack
PWR+
1
2
PWR+ PWR+
REGSHDN
STAT
1 2
RPI3V3 AVR3V3
1
2
RPI5V5V
VREGVIN
1
2
1
2
1
2
RPISHDN
1
2
J3
TBLK3.5MM
1
2
J4
TBLK3.5MM
M1A
M1B
M2A
M2B
Schematic diagram
Power connections and circuit
Page 3 of 3
VINBAT+
100k
R28
2
3
1
SW5
Through-hole
100k
R29
2
3
1
SW6
SMT
16.2 V
D7
Q6Q5
5.1 uHL2
BST 4
SW 6
VCC
2
EN/SYNC
3
FB 1 GND
5
IN
7
PG
8
MP4423H
51.1k
R31
24.9k
R34
4.7k
R33
22.1
R32
0.1 uF
C18
0.1 uF
C17
10 uF
C16A
10 uF
C16B
10 uF
C19A
10 uF
C19B
10 uF
C19C
4.7 uF
C19D
4.7 uF
C19E
100 uF
C15
220 uF
C20
VREG
D8
REGVCC
REGVCC
PG
REGEN
0.1 uF
C16C
0.1 uF
C16D
1 uF
C19F
0.1 uF
C19G
SW
FB
BST
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC1001
PIC1002
COC10
PIC1101
PIC1102
COC11
PIC1201
PIC1202
COC12
PIC1301
PIC1302
COC13
PIC1401
PIC1402
COC14
PIC1501
PIC1502
COC15
PIC16A01
PIC16A02
COC16A
PIC16B01
PIC16B02
COC16B
PIC16C01
PIC16C02
COC16C
PIC16D01
PIC16D02
COC16D
PIC1701
PIC1702
COC17
PIC1801
PIC1802
COC18
PIC19A01
PIC19A02
COC19A
PIC19B01
PIC19B02
COC19B
PIC19C01
PIC19C02
COC19C
PIC19D01
PIC19D02
COC19D
PIC19E01
PIC19E02
COC19E
PIC19F01
PIC19F02
COC19F
PIC19G01
PIC19G02
COC19G
PIC2001
PIC2002
COC20
PID501
PID502
COD5
PID601
PID602
COD6
PID701
PID702
COD7
PID801
PID802
COD8
PIJ201
PIJ202
PIJ203
COJ2
PIJ301
PIJ302
COJ3
PIJ401
PIJ402
COJ4
PIJ501
PIJ502
COJ5
PIJ601
PIJ602
COJ6
PIJ801 PIJ802
COJ8
PIJ901 PIJ902
COJ9
PIJP701
COJP7
PIJP1401
COJP14
PIJP1501
PIJP1502
COJP15
PIJP1601 PIJP1602
COJP16
PIJP1701
PIJP1702
COJP17
PIJP1801
PIJP1802
COJP18
PIJP1901
PIJP1902
COJP19
PIJP2001
COJP20
PIJP2101
COJP21
PIJP2201
PIJP2202
COJP22
PIJP2301
PIJP2302
PIJP2303
PIJP2304
PIJP2305
PIJP2306
COJP23
PIL201 PIL202
COL2
PIQ301
PIQ302
PIQ306
COQ3A
PIQ303
PIQ304
PIQ305
COQ3B
PIQ401
PIQ402PIQ403
COQ4
PIQ501PIQ502PIQ503
PIQ504
PIQ505PIQ506PIQ507PIQ508PIQ509
COQ5
PIQ601PIQ602PIQ603
PIQ604
PIQ605PIQ606PIQ607PIQ608PIQ609
COQ6
PIQ701
PIQ702
PIQ703
COQ7
PIQ801
PIQ802 PIQ803
COQ8
PIR2001
PIR2002
COR20
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PIR2301
PIR2302
COR23
PIR2401
PIR2402
COR24
PIR2501
PIR2502
COR25
PIR2601
PIR2602
COR26
PIR2701
PIR2702
COR27
PIR2801
PIR2802
COR28
PIR2901
PIR2902
COR29
PIR3001
PIR3002
COR30
PIR3101 PIR3102
COR31
PIR3201 PIR3202
COR32
PIR3301
PIR3302
COR33
PIR3401 PIR3402
COR34
PISW501
PISW502
PISW503
COSW5
PISW601
PISW602
PISW603
COSW6
PIU501
PIU502
PIU503
PIU504
PIU505
PIU506
PIU507 PIU508
PIU509
COU5
PIU601
PIU602
PIU603
PIU604
PIU605
PIU606
PIU607
PIU608
COU6