# Irion Fire Evacuation Robot ## Description Four-sheet connected schematic for the Irion fire evacuation robot, covering battery power conversion, STM32 motor control, Jetson sensors, and LTE communications. ## Project Details - **Owner:** harugato - **Created:** 8/1/2026 - **Last Updated:** 8/5/2026 - **Visibility:** Public ## Key Components ### AMP1 — [MAX98357 Breakout](https://www.flux.ai/giulioz/max98357-breakout~uw.md) - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role: Amplification - Role Details: MAX98357A module: +5V/GND, Jetson I2S BCLK/LRCLK/DIN, differential OUT+/OUT- to 4ohm speaker - Product Info Url: https://www.adafruit.com/product/3006 **Pins:** - BCLK - DIN - GAIN - GND - LRC - S- - S+ - SD - Vin ### BAT1 — [61300211121](https://www.flux.ai/adrian95/61300211121~11.md) - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300211121.pdf - Manufacturer Name: Würth Elektronik - Part Type: Connector - Role Details: BAT_4S_14V8; pin 1 BAT_POS, pin 2 GND; 4S 14.8 V nominal - License: https://creativecommons.org/licenses/by/4.0/ - Role: Power Source - Functional Group: Sheet 1 - Power Unit - Manufacturer Part Number: 61300211121 **Pins:** - P1 [pin 1] - P2 [pin 2] ### CAM1 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Role Details: Sony IMX477 Arducam HQ: CSI ribbon to Jetson CSI, 3.3V and GND via CSI; not connected to STM32 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Sensing (Shunt) - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Part Type: Connector - Operating Voltage: 3.3V **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### DRV1 — [2x5 Pin Shrouded Header](https://www.flux.ai/rex-flux/2x5-pin-shrouded-header~tg.md) - Manufacturer Part Number: 61201021621 - Role Details: MDD10A abstract module: VIN, GND, M1A/M1B, M2A/M2B, DIR1/PWM1, DIR2/PWM2 mapped by pin number after inspection - Role: Power Conversion - Datasheet URL: https://www.we-online.com/catalog/datasheet/61201021621.pdf - Functional Group: Sheet 2 - Control Unit (STM32) - Part Type: Connector - Manufacturer Name: Würth Elektronik **Pins:** - P1 [pin 1] - P10 [pin 10] - P2 [pin 2] - P3 [pin 3] - P4 [pin 4] - P5 [pin 5] - P6 [pin 6] - P7 [pin 8] - P7 [pin 7] - P9 [pin 9] ### DRV2 — [2x5 Pin Shrouded Header](https://www.flux.ai/rex-flux/2x5-pin-shrouded-header~tg.md) - Manufacturer Part Number: 61201021621 - Role: Power Conversion - Functional Group: Sheet 2 - Control Unit (STM32) - Role Details: MDD10A abstract module: VIN, GND, M1A/M1B, M2A/M2B, DIR1/PWM1, DIR2/PWM2 mapped by pin number after inspection - Datasheet URL: https://www.we-online.com/catalog/datasheet/61201021621.pdf - Manufacturer Name: Würth Elektronik - Part Type: Connector **Pins:** - P1 [pin 1] - P10 [pin 10] - P2 [pin 2] - P3 [pin 3] - P4 [pin 4] - P5 [pin 5] - P6 [pin 6] - P7 [pin 8] - P7 [pin 7] - P9 [pin 9] ### DRV3 — [2x5 Pin Shrouded Header](https://www.flux.ai/rex-flux/2x5-pin-shrouded-header~tg.md) - Role Details: MDD10A abstract module: VIN, GND, M1A/M1B, M2A/M2B, DIR1/PWM1, DIR2/PWM2 mapped by pin number after inspection - Manufacturer Part Number: 61201021621 - Part Type: Connector - Manufacturer Name: Würth Elektronik - Functional Group: Sheet 2 - Control Unit (STM32) - Role: Power Conversion - Datasheet URL: https://www.we-online.com/catalog/datasheet/61201021621.pdf **Pins:** - P1 [pin 1] - P10 [pin 10] - P2 [pin 2] - P3 [pin 3] - P4 [pin 4] - P5 [pin 5] - P6 [pin 6] - P7 [pin 8] - P7 [pin 7] - P9 [pin 9] ### F1 — [61300211121](https://www.flux.ai/adrian95/61300211121~11.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Protection - Manufacturer Part Number: 61300211121 - Current Rating: 40A - Functional Group: Sheet 1 - Power Unit - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300211121.pdf - Part Type: Connector - Manufacturer Name: Würth Elektronik - Role Details: FUSE_40A blade fuse; pin 1 FUSE_IN, pin 2 FUSE_OUT **Pins:** - P1 [pin 1] - P2 [pin 2] ### IMU1 — [MPU9250+BMP280 Module](https://www.flux.ai/vasyl/mpu9250plusbmp280-module~4n2.md) - Role Details: MPU9250 IMU on I2C PB10/PB11, address 0x68; BMP280 portion unused - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet MPU9250: https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf - Functional Group: Sheet 2 - Control Unit (STM32) - Role: Sensing (Shunt) - Datasheet BMP280 : https://datasheet.lcsc.com/lcsc/2007021612_Bosch-Sensortec-BMP280_C83291.pdf - Part Type: Sensor Module **Pins:** - 3.3V [pin 2] - 6D0/SDO [pin 6] - CSB [pin 8] - GND [pin 3] - NCS [pin 7] - SCL [pin 4] - SDA [pin 5] - VIN [pin 1] ### LEPTON35 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Part Type: Connector - Role Details: FLIR Lepton 3.5 plugs internally into PureThermal 3; no extra SPI wiring - Role: Sensing (Shunt) - Functional Group: Sheet 3 - Sensor Unit (Jetson) - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### LIDAR1 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Sensing (Shunt) - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Part Type: Connector - Current: 0.23A - Role Details: SLAMTEC RPLidar C1: 1 VCC +5V, 2 GND, 3 TX to Jetson UART1 RX, 4 RX from Jetson UART1 TX **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### LTE1 — Waveshare SIM7600G-H 4G HAT (SKU 17372) UART Interface - Manufacturer Part Number: SIM7600G-H 4G HAT - Functional Group: Sheet 4 - Communication Unit - Role Details: Waveshare SKU 17372; UART level translator set for 3.3V host logic; TXD to STM32 USART2_RX, RXD from USART2_TX - Mount: Wire - Part Type: Integrated Circuits - Manufacturer Name: Waveshare - Role: Communications - Datasheet URL: https://www.waveshare.com/wiki/SIM7600G-H_4G_HAT **Pins:** - GND [pin 2] - RXD [pin 4] - TXD [pin 3] - VCC [pin 1] ### MIC1 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Role Details: ReSpeaker 2-Mic HAT via Jetson USB2; power via USB, guide indicates 3.3V via USB; no separate I2S - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role: Sensing (Shunt) **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### MOTOR1 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Functional Group: Sheet 2 - Control Unit (STM32) - Connector Pitch: 2.54mm - Part Type: Connector - Connector Positions: 6 - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - License: https://creativecommons.org/licenses/by/4.0/ - Role: Motor Interface - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - Connector Rows: 1 - Manufacturer Name: Samtec - Connector Type: Headers and Wire Housings - Connector Gender: Male **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MOTOR2 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Part Type: Connector - Connector Positions: 6 - Connector Pitch: 2.54mm - Connector Rows: 1 - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - License: https://creativecommons.org/licenses/by/4.0/ - Connector Type: Headers and Wire Housings - Connector Gender: Male - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - Manufacturer Name: Samtec - Functional Group: Sheet 2 - Control Unit (STM32) - Role: Motor Interface **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MOTOR3 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Functional Group: Sheet 2 - Control Unit (STM32) - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - Role: Motor Interface - Part Type: Connector - Connector Positions: 6 - Connector Pitch: 2.54mm - Connector Rows: 1 - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - Manufacturer Name: Samtec - Connector Type: Headers and Wire Housings - Connector Gender: Male **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MOTOR4 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Connector Pitch: 2.54mm - Part Type: Connector - Connector Positions: 6 - Functional Group: Sheet 2 - Control Unit (STM32) - Role: Motor Interface - Connector Type: Headers and Wire Housings - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - Connector Gender: Male - Manufacturer Name: Samtec - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - License: https://creativecommons.org/licenses/by/4.0/ - Connector Rows: 1 **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MOTOR5 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Connector Rows: 1 - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Sheet 2 - Control Unit (STM32) - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - Manufacturer Name: Samtec - Connector Type: Headers and Wire Housings - Connector Gender: Male - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - Role: Motor Interface - Connector Positions: 6 - Part Type: Connector - Connector Pitch: 2.54mm **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MOTOR6 — [TSW-106-07-G-S](https://www.flux.ai/adrian95/tsw-106-07-g-s~giw.md) - Part Type: Connector - Connector Positions: 6 - Connector Pitch: 2.54mm - Functional Group: Sheet 2 - Control Unit (STM32) - Connector Rows: 1 - Role Details: CHR-GM25-370 abstract connector: 1 Motor M1, 2 Motor M2, 3 Encoder 3.3V, 4 Encoder GND, 5 Encoder A, 6 Encoder B - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://suddendocs.samtec.com/catalog_english/tsw_th.pdf - Manufacturer Part Number: TSW-106-07-G-S - Manufacturer Name: Samtec - Connector Type: Headers and Wire Housings - Connector Gender: Male - Role: Motor Interface **Pins:** - 01 [pin 01] - 02 [pin 02] - 03 [pin 03] - 04 [pin 04] - 05 [pin 05] - 06 [pin 06] ### MP1584_BUCK_3V3 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Operating Voltage: 5V - Role: Power Conversion - Part Type: Connector - Role Details: MP1584_BUCK_3V3 abstract module: pin 1 IN+, pin 2 IN-, pin 3 OUT+, pin 4 OUT-; +5V to +3V3 - Max Output Voltage: 3.3V - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Sheet 1 - Power Unit **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### PS1 — [LM2596 DC-DC buck converter](https://www.flux.ai/vasy_skral/lm2596-dc-dc-buck-converter~2q1.md) - Functional Group: Sheet 1 - Power Unit - Part Type: Integrated Circuit - Role: Power Conversion - Role Details: Buck 1: 14.8 V to +12V, 3 A; later specified to feed six motors and Jetson despite 3 A module rating - Operating Voltage: 14.8V - Max Output Voltage: 12V - License: https://creativecommons.org/licenses/by/4.0/ - Max Current: 3A **Pins:** - IN - [pin 2] - IN + [pin 1] - OUT - [pin 3] - OUT + [pin 4] ### PS2 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Functional Group: Sheet 1 - Power Unit - Max Current: 8A - Role Details: XL4016_BUCK Buck 2: pin 1 IN+, 2 IN-, 3 OUT+, 4 OUT-; 14.8 V to 5 V, 8 A - Max Output Voltage: 5V - Operating Voltage: 14.8V - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role: Power Conversion **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### PS3 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Role Details: XL4016_BUCK Buck 3: pin 1 IN+, 2 IN-, 3 OUT+, 4 OUT-; 14.8 V to 4.8 V, 8 A - Part Type: Connector - Max Current: 8A - Max Output Voltage: 4.8V - Role: Power Conversion - Operating Voltage: 14.8V - Functional Group: Sheet 1 - Power Unit - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### PURETHERMAL3 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Role: Sensing (Shunt) - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role Details: PureThermal 3: Lepton internal connection; USB-C to Jetson USB1 with +5V/GND via USB - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### PWM2 — [PCA9685PW,118](https://www.flux.ai/lcsc/pca9685pwc118~77ym.md) - Datasheet URL: https://www.nxp.com.cn/docs/en/data-sheet/PCA9685.pdf - Symbol Style: parametric-v1 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Signal Generation - JLCPCB Part Class: Extended Part - Package or Case Code: TSSOP-28_L9.7-W4.4-P0.65-LS6.4-TL - Part Type: LED Drivers - Manufacturer Name: NXP(恩智浦) - Role Details: PCA9685 servo driver, I2C address 0x40, CH0-CH5 used; external servo +4V8 rail is carried directly to servo connectors - Functional Group: Sheet 2 - Control Unit (STM32) - Manufacturer Part Number: PCA9685PW,118 - LCSC Part Number: C2678753 **Pins:** - ~{OE} [pin 23] - A0 [pin 1] - A1 [pin 2] - A2 [pin 3] - A3 [pin 4] - A4 [pin 5] - A5 [pin 24] - EXTCLK [pin 25] - LED0 [pin 6] - LED1 [pin 7] - LED10 [pin 17] - LED11 [pin 18] - LED12 [pin 19] - LED13 [pin 20] - LED14 [pin 21] - LED15 [pin 22] - LED2 [pin 8] - LED3 [pin 9] - LED4 [pin 10] - LED5 [pin 11] - LED6 [pin 12] - LED7 [pin 13] - LED8 [pin 15] - LED9 [pin 16] - SCL [pin 26] - SDA [pin 27] - VDD [pin 28] - VSS [pin 14] ### RADAR1 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Role: Sensing (Shunt) - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Current: 0.5A - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role Details: Seeed MR60BHA1: 1 +5V, 2 GND, 3 TX to Jetson UART2 RX, 4 RX from Jetson UART2 TX **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### RADAR2 — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role: Sensing (Shunt) - Role Details: TI IWR6843AOP: 1 +5V, 2 GND, 3 TX to Jetson UART3 RX, 4 RX from Jetson UART3 TX - License: https://creativecommons.org/licenses/by/4.0/ - Current: 0.6A - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### Servo1 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Servo Interface - Functional Group: Sheet 2 - Control Unit (STM32) - Part Type: Connector - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo2 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - Part Type: Connector - Role: Servo Interface - Functional Group: Sheet 2 - Control Unit (STM32) - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo3 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - Role: Servo Interface - Functional Group: Sheet 2 - Control Unit (STM32) - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo4 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Part Type: Connector - Role: Servo Interface - Functional Group: Sheet 2 - Control Unit (STM32) - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### SERVO6 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Interface - Functional Group: Sheet 2 - Control Unit (STM32) - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### SPK1 — [61300211121](https://www.flux.ai/adrian95/61300211121~11.md) - Resistance: 4Ω - License: https://creativecommons.org/licenses/by/4.0/ - Power Rating: 10W - Manufacturer Part Number: 61300211121 - Manufacturer Name: Würth Elektronik - Role Details: 4 ohm 10W speaker abstract 2-pin load; differential amplifier output, neither terminal grounded - Part Type: Connector - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300211121.pdf - Functional Group: Sheet 3 - Sensor Unit (Jetson) - Role: Human Interface **Pins:** - P1 [pin 1] - P2 [pin 2] ### SV1 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Servo Interface - Role Details: SH-0255MG abstract servo connector: red/V+ +4V8, brown/GND, orange/PWM - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Functional Group: Sheet 2 - Control Unit (STM32) **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### SW1 — [61300211121](https://www.flux.ai/adrian95/61300211121~11.md) - Role Details: E-stop button: terminal 1 ESTOP/PB0, terminal 2 GND; active-low using MCU internal pull-up behavior - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300211121.pdf - Part Type: Connector - Role: Switching - Manufacturer Name: Würth Elektronik - Manufacturer Part Number: 61300211121 - Functional Group: Sheet 2 - Control Unit (STM32) - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - P1 [pin 1] - P2 [pin 2] ### U2 — [STM32H743VIT6](https://www.flux.ai/lcsc/stm32h743vit6~z1ju.md) - Manufacturer Part Number: STM32H743VIT6 - Package or Case Code: LQFP-100_L14.0-W14.0-P0.50-LS16.0-BL - LCSC Part Number: C114409 - Product Info Url: https://lcsc.com/product-detail/ST-Microelectronics_STMicroelectronics-STM32H743VIT6_C114409.html - Symbol Style: parametric-v1 - Role: Logic - Functional Group: Sheet 2 - Control Unit (STM32) - Role Details: STM32H743VIT6 main controller; only guide-assigned signals used - Manufacturer Name: ST(意法半导体) - Frequency: 480MHz - Datasheet URL: https://www.st.com/resource/en/datasheet/stm32h743bi.pdf - JLCPCB Part Class: Extended Part - Part Type: ST Microelectronics - Operating Temperature: -40°C ~ 85°C (TA) - Voltage Supply: 1.71 ~ 3.6V **Pins:** - BOOT0 [pin 94] - NRST [pin 14] - PA0 [pin 22] - PA1 [pin 23] - PA10 [pin 69] - PA11 [pin 70] - PA12 [pin 71] - PA13 [pin 72] - PA14 [pin 76] - PA15 [pin 77] - PA2 [pin 24] - PA3 [pin 25] - PA4 [pin 28] - PA5 [pin 29] - PA6 [pin 30] - PA7 [pin 31] - PA8 [pin 67] - PA9 [pin 68] - PB0 [pin 34] - PB1 [pin 35] - PB10 [pin 46] - PB11 [pin 47] - PB12 [pin 51] - PB13 [pin 52] - PB14 [pin 53] - PB15 [pin 54] - PB2 [pin 36] - PB3 [pin 89] - PB4 [pin 90] - PB5 [pin 91] - PB6 [pin 92] - PB7 [pin 93] - PB8 [pin 95] - PB9 [pin 96] - PC0 [pin 15] - PC1 [pin 16] - PC10 [pin 78] - PC11 [pin 79] - PC12 [pin 80] - PC13 [pin 7] - PC14-OSC32_IN [pin 8] - PC15-OSC32_OUT [pin 9] - PC2_C [pin 17] - PC3_C [pin 18] - PC4 [pin 32] - PC5 [pin 33] - PC6 [pin 63] - PC7 [pin 64] - PC8 [pin 65] - PC9 [pin 66] - PD0 [pin 81] - PD1 [pin 82] - PD10 [pin 57] - PD11 [pin 58] - PD12 [pin 59] - PD13 [pin 60] - PD14 [pin 61] - PD15 [pin 62] - PD2 [pin 83] - PD3 [pin 84] - PD4 [pin 85] - PD5 [pin 86] - PD6 [pin 87] - PD7 [pin 88] - PD8 [pin 55] - PD9 [pin 56] - PE0 [pin 97] - PE1 [pin 98] - PE10 [pin 40] - PE11 [pin 41] - PE12 [pin 42] - PE13 [pin 43] - PE14 [pin 44] - PE15 [pin 45] - PE2 [pin 1] - PE3 [pin 2] - PE4 [pin 3] - PE5 [pin 4] - PE6 [pin 5] - PE7 [pin 37] - PE8 [pin 38] - PE9 [pin 39] - PH0-OSC_IN [pin 12] - PH1-OSC_OUT [pin 13] - VBAT [pin 6] - VCAP [pin 48] - VCAP [pin 73] - VDD [pin 50] - VDD [pin 27] - VDD [pin 100] - VDD [pin 11] - VDD [pin 75] - VDDA [pin 21] - VREF+ [pin 20] - VSS [pin 10] - VSS [pin 49] - VSS [pin 74] - VSS [pin 26] - VSS [pin 99] - VSSA [pin 19] ### WT901C — [Connector 01x04_2.00mm](https://www.flux.ai/jecstronic/connector-01x042p00mm~qsu.md) - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Sheet 2 - Control Unit (STM32) - Frequency: 9600Hz - Role: Sensing (Shunt) - Role Details: WT901C UART mode: pin 1 +5V, pin 2 GND, pin 3 TX to STM32 PA11 RX on JETSON_TO_STM32, pin 4 RX from STM32 PA12 TX on STM32_TO_JETSON - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/harugato/irion-fire-evacuation-robot-9bhtz~cb](https://www.flux.ai/harugato/irion-fire-evacuation-robot-9bhtz~cb).* --- *Generated from [https://www.flux.ai/harugato/irion-fire-evacuation-robot-9bhtz~cb](https://www.flux.ai/harugato/irion-fire-evacuation-robot-9bhtz~cb)*