Thundercomm Qualcomm Robotics RB5 Instructions for use

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Qualcomm® Robotics RB5 Development Kit
Hardware User Manual
Rev. 1.0
Sep 24, 2020
Empowering Every IoT Device with Our Technology

Robotics RB5 Development Kit Hardware User Manual
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Revision History
Revision
Date
Description
1.0
Sep 24, 2020
Initial Release

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Table of Contents
1Qualcomm®Robotics RB5 Development Kit .....................................................................1
1.1 RB5 Development board Key Features............................................................................................ 1
1.2 Board views......................................................................................................................................... 3
1.2.1 Top view....................................................................................................................................... 3
1.2.2 Back view ..................................................................................................................................... 4
1.2.3 Terms and Definitions ................................................................................................................ 4
2Start the board .......................................................................................................................5
2.1 Required equipment .......................................................................................................................... 5
2.2 Ubuntu Embedded OS startup process ........................................................................................... 5
3Qualcomm® Robotics RB5 Development Kit ....................................................................6
3.1 System Block diagram ....................................................................................................................... 6
3.2 Processor............................................................................................................................................. 8
3.3 Memory ............................................................................................................................................... 8
3.4 MicroSD............................................................................................................................................... 8
3.5 Wi-Fi/BT............................................................................................................................................... 9
3.6 Display Interface................................................................................................................................. 9
3.6.1 HDMI............................................................................................................................................ 9
3.6.2 MIPI-DSI..................................................................................................................................... 10
3.7 Camera Interfaces............................................................................................................................. 10
3.8 USB Ports........................................................................................................................................... 10
3.8.1 USB-Host ports ......................................................................................................................... 11
3.8.2 USB TypeC port......................................................................................................................... 11
3.9 Audio ................................................................................................................................................. 11
3.9.1 BT Audio .................................................................................................................................... 11
3.9.2 HDMI Audio............................................................................................................................... 11
3.9.3 DisplayPort Audio..................................................................................................................... 11
3.10 DC-power and Battery Power ......................................................................................................... 12
3.11 DC power Measurements................................................................................................................ 12
3.12 Buttons .............................................................................................................................................. 12
3.13 External Fan connection .................................................................................................................. 12
3.14 UART .................................................................................................................................................. 12
3.15 JTAG (NA).......................................................................................................................................... 12
3.16 System and user LEDs...................................................................................................................... 12
3.17 Expansion Connector ....................................................................................................................... 13
3.18 Additional Functionality .................................................................................................................. 13

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3.18.1 Ethernet Connector .................................................................................................................. 13
3.18.2 Inertial Sensors.......................................................................................................................... 14
3.18.3 DIP Switch.................................................................................................................................. 14
3.18.4 Extra Low Speed Expansion Connector.................................................................................. 14
3.18.5 Extra High Speed Expansion Connectors............................................................................... 15
4Low speed Expansion connector........................................................................................16
4.1 Primary Low Speed Expansion Connector: LS1............................................................................. 16
4.1.1 UART .......................................................................................................................................... 17
4.1.2 I2C............................................................................................................................................... 17
4.1.3 GPIO ........................................................................................................................................... 17
4.1.4 SPI............................................................................................................................................... 18
4.1.5 PCM/I2S ..................................................................................................................................... 18
4.1.6 Power and Reset ....................................................................................................................... 18
4.1.7 Power Supplies.......................................................................................................................... 19
4.2 Secondary Low Speed Connector: LS2 .......................................................................................... 19
4.2.1 Audio.......................................................................................................................................... 20
4.2.2 Stereo speaker .......................................................................................................................... 20
4.2.3 Digital Microphones................................................................................................................. 21
4.2.4 CAN ............................................................................................................................................ 21
4.2.5 I2C............................................................................................................................................... 21
4.2.6 GPIOs.......................................................................................................................................... 22
4.2.7 Other signals on Secondary Low Speed Connector ............................................................. 22
4.3Tertiary Low Speed Connector: LS3 ............................................................................................... 23
4.3.1 SSC SPI ....................................................................................................................................... 24
4.3.2 SSC I2C....................................................................................................................................... 24
4.3.3 Sensor interrupt ........................................................................................................................ 25
4.3.4 Other signals on Tertiary Low Speed Connector .................................................................. 25
5High speed expansion connectors ....................................................................................26
5.1 Primary high speed expansion connector: HS1 ............................................................................ 26
5.1.1 MIPI DSI ..................................................................................................................................... 27
5.1.2 MIPI CSI...................................................................................................................................... 28
5.1.3 I2C............................................................................................................................................... 28
5.1.4 HSIC............................................................................................................................................ 28
5.1.5 Reserved .................................................................................................................................... 28
5.1.6 SD/SPI ........................................................................................................................................ 28
5.1.7 Camera Clocks........................................................................................................................... 29
5.1.8 USB ............................................................................................................................................. 29
5.2 Secondary High Speed Connector: HS2 ........................................................................................ 29

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5.2.1 MIPI CSI...................................................................................................................................... 31
5.2.2 Clock........................................................................................................................................... 31
5.2.3 SPI............................................................................................................................................... 31
5.2.4 PCIe1 .......................................................................................................................................... 31
5.2.5 USB ............................................................................................................................................. 31
5.2.6 Other signals on Secondary High Speed Connector ............................................................ 32
5.3 Tertiary High Speed Connector: HS3 ............................................................................................. 32
5.3.1 MIPI CSI...................................................................................................................................... 34
5.3.2 Clock........................................................................................................................................... 34
5.3.3 PCIe1&2..................................................................................................................................... 34
5.3.4 MIPI-DSI1................................................................................................................................... 34
5.3.5 Other signals on Tertiary High Speed Connector................................................................. 34
6Power management.............................................................................................................35
6.1 DC Power Input ................................................................................................................................ 35
6.2 Power Source Selection ................................................................................................................... 35
6.3 Power Sequencing............................................................................................................................ 35
6.4 Power Measurements ...................................................................................................................... 36
6.4.1 DC-In measurement ................................................................................................................. 36
6.4.2 PMIC Power-In measurement (VPH_PWR measurement) ................................................... 36
7Buttons and status LED’s..................................................................................................37
7.1 Buttons .............................................................................................................................................. 37
7.1.1 Volume up ................................................................................................................................. 37
7.1.2 Volume down............................................................................................................................ 37
7.1.3 Power Button ............................................................................................................................ 37
7.1.4 Reset Button.............................................................................................................................. 37
7.1.5 Force_USB_BOOT button ......................................................................................................... 38
7.2 LED's................................................................................................................................................... 38
7.2.1 User LED 1-4.............................................................................................................................. 38
7.2.2 Wi-Fi status................................................................................................................................ 38
7.2.3 Bluetooth status........................................................................................................................ 38
7.2.4 Power Indicator LED ................................................................................................................. 38
8Boot configuration...............................................................................................................39
9Mechanical specification.....................................................................................................40
10 Appendix............................................................................................................................43
10.1 Navigation Mezzanine ..................................................................................................................... 43
10.1.1 Technical specifications ........................................................................................................... 43

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10.1.2 Board views ............................................................................................................................... 44
10.2 Machine Communication Mezzanine ............................................................................................ 45
10.2.1 Technical specifications.............................................................................................................. 45

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1Qualcomm®Robotics RB5 Development Kit
Qualcomm®Robotics RB5 Development Kit - the Company's most advanced, integrated,
comprehensive offering designed specifically for robotics. Building on the successful
Qualcomm®Robotics RB3 platform and its broad adoption in a wide array of robotics and
drone products available today, the Qualcomm®Robotics RB5 Development Kit is
comprised of an extensive set of hardware, software and development tools. The
Qualcomm®Robotics RB5 Development Kit is the first of its kind to bring together the
Company's deep expertise in 5G and AI to empower developers and manufacturers to
create the next generation of high-compute, low-power robots and drones for the
consumer, enterprise, defense, industrial and professional service sectors - and the
comprehensive Qualcomm Robotics RB5 Development Kit helps ensure developers have
the customization and flexibility they need to make their visions a commercial reality.
Based on the Qualcomm®QRB5165 Robotics SoC, the Qualcomm®Robotics RB5
Development kit contains a robotics-focused development board and compliant with the
96Boards open hardware specification which supports a broad range of mezzanine-board
expansions for rapid prototyping.
1.1 RB5 Development board Key Features
Component
Description
SOM Platform Feature
Snapdragon™QRB5165
LPDDR5(POP) + UFS, 8GB + 128GB
Wi-Fi/BT: QCA6391 (2x2 MIMO, 802.11 a/b/g/n/ac/ax & BT5.1)
LPDDR5(POP) + UFS, 8GB + 128GB
Ethernet
1x GbE Ethernet
USB
1 x USB 2.0 Micro B (Debug only )
1 x USB 3.1 Type C (OTG mode)
2 x USB 3.0 Type A (Host mode only)
Display
1 x HDMI 1.4 (Type A - full) on board connector
Camera
1 x B2B connector with 4L-MIPI CSI D-PHY&C-PHY supported(NC)
Audio
2 x Class-D on board speaker amplifier, WSA881x
1 x on board PDM MIC
Sensor
A+G sensor
FAN
FAN connector with 12V output and PWM control

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LED
7 LED indicators:
4 x User controllable
2 x For radios (BT and WLAN activity)
1 x Power indicator
Button
Power ON
Volume Up/Down
Force USB Boot
DIP Switch x 2 (6pin+4pin)
Expansion interface
HS1:1 x 60 pin high-speed connector (SDC I/F, 1 x 4L MIPI DSI, USB 2.0, CCI I2C
x2, 2L+4L-MIPI CSI)
HS2:1 x 60 pin high-speed connector (4L-MIPI CSI x 2, SPI x 1, PCIe 3.0 gen3 1L,
USB 3.0 x1, GPIO x 8)
HS3:1 x 60 pin high-speed connector (4L-MIPI CSI x 2, 4L-MIPI CSI x1(plus 2L CSI
in HS1), RF CLK x 2, 2L-PCIe 3.0 x 1, 2L-PCIe 3.0 x 1 (plus PCIe 1L in HS2), 4L-MIPI
DSI x 1)
LS1:1 x 96boards 40 pin low-speed connector (UART x 2, SPI, I2S/PCM, I2C x 2,
GPIO x 12, DC powers)
LS2:1 x 96boards 40 pin low-speed connector (Speaker x 2, DMIC I/F x 3, CAN, I2S,
GPIOs, PWM, ADC, I2C, DC powers)
LS3:1 x 96boards 40 pin Low-Speed connector (SPI x 2, SSC I2C, sensor interrupt x
5, GPIOs, RTC clock, DC powers)
Operating Environment
Operation Temperature: -20℃~ 70℃
Operation Humidity: 5%~95%, non-condensing
Power supply
[email protected] adapter with a DC plug, with inner diameter as 1.75mm and outer
diameter as 4.75mm
Dimension
85mm x 54mm, meeting 96Boards Consumer Edition Standard form dimensions
specifications

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1.2 Board views
1.2.1Top view

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1.2.2Back view
1.2.3Terms and Definitions
Component
Description
QUP
Qualcomm Universal Peripheral
The QUP engine provides a general-purpose data path that supports multiple mini
cores, e.g., UART, I2C and SPI
CCI
Camera Control Interface
SPMI
System Power Management Interface

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2Start the board
2.1 Required equipment
Equipment
Description
Qualcomm® Robotics
RB5 Development Kit
SOM based on the Qualcomm® QRB5165 processor
IO based on 96board requirement
Power adapter
12 V with 2500 mA required per 96Boards specification
USB to Micro USB cable
For serial console interface and ADB, Fastboot commands
USB to USB Type C cable
For connecting the USB3.0 Type C port and flashing images
Host PC
For connecting the board and installing Fastboot
2.2 Ubuntu Embedded OS startup process
Display is not supported in the LE OS.
1. Open the serial console tool on host PC (for example: minicom).
2. Turn on SW2 on the Dip Switch#1 (see section 1.2.2, #16) to enable the USB2.0 debug
port (see Section 1.2.2, #21).
3. Turn on SW3 on the Dip Switch#1 (see section 1.2.2, #16) to enable the auto power up
on (along with power connector).

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4. Connect the USB cable Micro-B plug to the USB2.0 debug port (see section 1.2.2, #21),
and connect the other end to an available USB port on the host PC.
NOTE: Set the Bps/Par/Bits to 115200 8N1
5. Connect the power supply to power connector (see section 1.2.1, #15).
6. Plug the power supply into a power outlet.
7. Press, and hold the power button on the device, and then release it. The green power-
up LED should illuminate in a second.
8. The board will start the booting process. Login credentials will display on the host PC:
qrb5165-rb5 login: root
Password: oelinux123
3Qualcomm® Robotics RB5 Development Kit
3.1 System Block diagram
Block diagram part #1

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Block diagram part #2

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3.2 Processor
QRB5165 is the new generation Qualcomm® Snapdragon™ premium-tier processor with
robotic application. It is designed with the 7 nm process, for superior performance and
power efficiency.
3.3 Memory
The QRB5165 uses a package on package (PoP) LPDDR5 RAM configuration and discrete
UFS3.0 flash memory.
The LPDDR5 interface goes directly to the QRB5165 built-in LPDDR controller. The
maximum DDR clock is 2750MHz.
The UFS flash memory interfaces with QRB5165 over a dedicated UFS PHY bus
supporting the UFS 3.0 specification.
3.4 MicroSD
MicroSD slot signals are routed directly to the QRB5165 SDC2 interface.

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The slot is a push-push type with dedicated support for card detect signal (many microSD
slots do not have dedicated CD pins, they use DATA3 state as the card detected signal).
RB5 uses AP GPIO_77 as the SD_CARD_DET_N.
3.5 Wi-Fi/BT
RB5 uses the Qualcomm RF chip QCA6391 solution that integrates two wireless
connectivity technologies into a single device.
The interfaces are:
WLAN-compliant with IEEE 802.11 b/g/n/ac/ax specifications, exceeding 96Boards
minimum Wi-Fi requirements
Bluetooth compliant with BT Milan and ANT+, supports BLE/BLE long range(BT
specification version 5.1), meeting the 96Boards BT requirements
The antenna socket #27, for Wi-Fi chain 0 (and optionally BT) and antenna socket #24, for
Wi-Fi chain1 are just backup solutions.
3.6 Display Interface
3.6.1HDMI
The 96Boards specification calls for an HDMI port to be present on the board.
Because QRB5165 doesn't include a built-in HDMI interface, RB5 deploys the built-in
MIPI-DSI 2x4 lanes interface as the source for the HDMI output. A DSI to HDMI Bridge
(LONTIUM SEMICONDUCTOR LT9611UXC) performs this task and it supports a resolution
from 1080p to 4K at 60Hz.
While the LT9611UXC supports automatic input video format timing detection (D-PHY1.2,
DSI1.3/CSI-2 1.00 and DCS 1.02.00), an I2C channel from the QRB5165 also allows users
to configure the operation of this bridge. It is QUP5 I2C interface from SoC.
This bridge supports audio as well (meeting the 96Boards requirements for providing
audio via HDMI). The RB5 uses a 4 bit I2S2 interface from the QRB5165 for this task.

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96Boards specification also calls for a MIPI-DSI interface to be routed to the High Speed
Expansion connector. Since the QRB5165 has two MIPI-DSI interface for HDMI, two
multiplexing devices (FSA644UCX) are used. Only one interface, HDMI, or the Expansion
MIPI-DSI can be active at one time. Control signal,‘DIP_HDMI_SWITCH’, comes from DIP
switch#16. When this signal is set to OFF state, DIP_HDMI_SWITCH is logic HIGH‘1’,
MIPI-DSI signals will be routed to DSI-HDMI Bridge. When the signal of DIP switch is set
to ON state, DIP_HDMI_SWITCH as logic LOW‘0’, MIPI-DSI signals will be routed to the
High Speed Expansion connector.
3.6.2MIPI-DSI
RB5 has 2x 4-lane MIPI_DSI interface. See below for details.
3.7 Camera Interfaces
RB5 has 6x 4L camera interfaces.
4-lane CSI0 camera on high-speed connector HS1 (section1.2.1 #6) ;
4-lane CSI1camera on high-speed connector HS2 (section1.2. #13)
4-lane CSI2 camera on high-speed connector HS2 (section1.2.1 #13)
4-lane CSI3 camera on high-speed connector HS1 (section1.2.1 #6) and high-speed
connector (section1.2.1 #7)
4-lane CSI4 camera on high-speed connector HS3 (section1.2.1 #7)
4-lane CSI5 camera on high-speed connector HS3 (section1.2.1 #7)
3.8 USB Ports

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3.8.1USB-Host ports
The QRB5165 processor includes two USB channels:
USB0 (section1.2.1 #5) is for USB Type C.
USB1 (through a USB HUB to section1.2.1 #1&#3) is USB host only ports.
RB5 supports below USB host ports by USB HUB mentioned above:
Two Type A USB Host 3.0 (super-speed) connector, each with current limit 1.2A.
USB 3.0 signals are also routed to high-speed expansion connector HS1&HS2.
3.8.2USB TypeC port
RB5 implements a USB Type C port (section1.2.1#5)
This Type C port supports both device and host mode with different peripherals. The
board can work in one mode at a time.
NOTE: There is a micro USB port section1.2.2#21. This micro B USB port is used only for
debug-log-output from the QRB5165 with a debug UART to USB bridge.
3.9 Audio
The 96Boards specifications calls for a minimum of single channel audio through two
interfaces, BT and HDMI/MHL/DisplayPort.
RB5 meets this requirement with HDMI, Display Port, and other audio channels, including
support for headset jack.
Note that MHL is not supported.
3.9.1BT Audio
The BT 5.1 implementation (including audio) on the Qualcomm® Robotics RB5
Development Kit is with QRB5165 and QCA6391.
3.9.2HDMI Audio
A 4-bit (audio out only) I2S channel is routed directly from the QRB5165 SoC I2S interface
pins to the DSI-HDMI bridge.
3.9.3DisplayPort Audio
The DisplayPort audio is routed directly from the QRB5165 SoC eDP interface pins to the
Type C USB connector.

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3.10 DC-power and Battery Power
RB5 power is supplied in one of the following ways:
8 V to 18 V power from a dedicated DC jack
8 V to 18 V power from the DC12V pins on the low-speed expansion connector
See Section 6 for details on Robotics RB5 Development Kit DC power implementation.
3.11 DC power Measurements
The 96Boards specification calls for support for measuring board power consumption.
See Section 6 for details on Robotics RB5 Development Kit DC power measurement.
3.12 Buttons
The 96Boards specification calls for the presence of two buttons, a power on/sleep button
and a reset button. RB5 meets these requirements.
See Section 7 for details on RB5 buttons.
3.13 External Fan connection
The 96Boards specification calls for support of an external fan. There is a on-board fan
connector on main IO(see section 1.2.2, #25), fan power is 12V.
3.14 UART
RB5 supports one 4bit UART, and a 2bit UART (optional), and both of them are routed to
the low-speed expansion connector.
The 4bit UART comes directly from SoC pins to low-speed expansion connector. The 2bit
UART is optional an on-board UART debug log port via Micro USB port#21, or to be
routed to low-speed expansion connector. To use the port for log output, switch
DIP_DEBUG_UART_SWITCH on DIP switch (section 1.2.2#16) to ON.
3.15 JTAG (NA)
NA
3.16 System and user LEDs
RB5 supports seven LEDs on the board. LEDs color and mechanical location on the board
are designed based on 96Boards specification.
Two activity LEDs

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Wi-Fi activity LED –RB5 drives this Yellow LED via GPIO_9 from the PMIC (PM8250).
BT activity LED –RB5 drives this Blue LED via GPIO_7 from the PMIC (PM8250).
Four user LEDs
The four user LEDs are surface mount LEDs in 0603 size located next to the two USB Type
A connectors and labeled with ‘USER LEDS 3 2 1 0’.
RB5 drives three of them by the red, green and blue LED drivers from power management
IC PM8150L.
The fourth one is driven by the PM8250 via GPIO_10.
Power indicator LED
A Green LED
3.17 Expansion Connector
The 96Boards specification calls for two expansion connectors, a low-speed connector
and a high-speed connector.
RB5 meets this requirement. See Section 4 for details about the low-speed expansion
connector and Section 5 for high speed expansion connectors.
3.18 Additional Functionality
The 96Boards specification permits additional functionality provided:
All mandatory functionality is available
No impact to the physical footprint specification (including height)
No impact to the use of 96Boards CE low-speed and high-speed expansion facilities
RB5 implements a few additional functions as described from Sections 3.17.1 to 3.17.4
3.18.1 Ethernet Connector
RB5 has the translation from USB1, a USB HUB and a USB to Gigabit Ethernet controller.
RB5 uses an RJ45 (see Section1.2.1, #9) as the physical interface.

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3.18.2 Inertial Sensors
RB5 includes the following inertial sensors.
6-axis accelerometer/gyroscope: INVENSENSE ICM-42688
The SPI interface for ICM-42688 is multiplexing to LS3 by a SPDT, controlled by
DIP_SENSOR_SWITCH_IMU. Setting DIP_SENSOR_SWITCH_IMU of DIP switch
(section1.2.2 #16) to OFF will enable ICM-42688's SPI communication.
3.18.3 DIP Switch
RB5 has two DIP switches (see Section 1.2.2, #16&#17).
DIP switch (section1.2.2 #16)
Switch 1 –DIP_MIC_SWITCH: When set to ON, will enable on board MIC; when set to
OFF, will enable DMIC1 on LS2
Switch 2 –DIP_DEBUG_UART_SWITCH: When set to ON position, will enable on
board debug UART; when set to OFF, will enable UART1 on LS1.
Switch 3 –CBL_PWR_N: When set to ON, the QRB5165 system will power on
automatically when main power is asserted; when set to OFF, the QRB5165 system
will power on by ON-KEY manual press.
Switch 4 –DIP_HDMI_SWITCH: When set to ON, will enable DSI0 to HS1 and DSI1 to
HS3; when set to OFF, will enable DSI1&2 to LT9611UXC and on board HDMI.
Switch 5 –DIP_SENSOR_SWITCH_IMU: When set to ON, will enable SPI to LS3; when
set to OFF, will enable SPI to on board sensor ICM_42688.
Switch 6 –IMU_EXT_CLK_TOGGLE: When set to ON, the onboard ICM-42688 sensor
will use the external CLK of GPIO3 from PM8250; when set to OFF, the onboard
ICM-42688 sensor will output interrupt to SoC GPIO113. These GPIOs need the
software configure setting.
DIP switch (section1.2.2 #17)
Switch 1 –BOOT_CONFIG(1)
Switch 2 –BOOT_CONFIG(2).
Switch 3 –BOOT_CONFIG(3)
Switch 4 –BOOT_CONFIG(0)
3.18.4 Extra Low Speed Expansion Connector
RB5 has 3 extra low-speed expansion connectors. See Section 4 for detail.