Husarion CORE2-ROS controller

Leo Rover is based on CORE2-ROS electronics board which, together with RoaspberryPi 3B+, controlls all the Rover functionalities.

We encourage you to check all the specs of the board itself as there's a great amount of intrfaces to be used for further development.

Electrical specification

Interface

Description

Parameters

Power input

6.8-16V

70...3000mA current consumption, depends on external modules standard 5.5/2.1 mm DC plug (centre-positive)

I/O ports

54

3.3V/5V tolerant GPIOs series resistance is 330Ω

ADC

up to 13 channels

12-bit resolution

PWM

up to 10 channels: - 6x 3.3V - 4x H-bridge output

Frequency range for H-bridge: 1Hz...21khz (in 16 steps) Period range for 3.3V outputs: 1...65535 us

UART

up to 4 channels

baudrate: 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000, 1000000, 2000000, 4000000

I2C

3 channels

up to 400kHz

SPI

1

up to 1 Mbps

CAN

1

500kbps

External Interrupts

up to 8 channels

triggered by an edge or voltage level

Content from Husarion Core2-ROS manual.

To learn more visit: https://husarion.com/manuals/core2/

Ports used in Leo Rover

To make it easier, we listed all the interfaces used by the Rover as default. Just to make sure you don't interfere with them when developing.

Port

Functionality

Power input

to power the board and RaspberryPi 3B+

hExt P1 pin (I/O)

to control the battery LED (to show the system readiness)

hMot A, B, C & D

(PWM H-bridge)

to power the Rover motors and encoders

USB hSerial

used to flash firmware to the board

(doesn't need to be connected all the time)

Additional warning

Take into consideration during the Rover assembly and development.

The board corner where there's power connector and power-related components tends to interfere with sensitive electronics such as wheel encoders. Make sure the encoder cables don't run on top of the corner.