Robotics RB5 Development Kit Hardware User Manual
Copyright© 2020 Thundercomm Technology Co., Ltd. All rights reserved.
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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).
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.
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