Thundercomm Qualcomm Robotics RB5 - SSC SPI, SSC I2 C, and Sensor Interrupt

Robotics RB5 Development Kit Hardware User Manual
Copyright© 2020 Thundercomm Technology Co., Ltd. All rights reserved.
24
22
SPI3_CS
SSC QUP5
24
PS_INT
26
ACCEL_INT
28
GYRO_INT
30
MAG_INT
32
MAG_DRDY_INT
34
I2C4_SDA
SSC QUP0
36
I2C4_SCL
SSC QUP0
38
VREG_L5C_1P8
40
GND
42
GND
44
SPI3_CS2
SSC QUP5
46
GPIO-XX
SSC QUP4
4.3.1 SSC SPI
RB5 implements 2 SSC SPI interfaces for different sensors that connect to QRB5165
processor sensor core. Each SPIs can support 2 CS signals.
The signals are:
 SPI2_CLK_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to CLK.
 SPI2_MOSI_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to MOSI.
 SPI2_MISO_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to MISO.
 SPI2_ACCEL_CS_LS3: Connects to SSC QUP2 of QRB5165 SoC, to be configured to CS.
 SPI2_CS1: Connects to SSC QUP2 of QRB5165 SoC, to be configured to gyroscope CS.
 SPI3_CLK: Connects to SSC QUP5 of QRB5165 SoC, to be configured to CLK.
 SPI3_MOSI: Connects to SSC QUP5 of QRB5165 SoC, to be configured to MOSI.
 SPI3_MISO: Connects to SSC QUP5 of QRB5165 SoC, to be configured to MISO.
 SPI3_CS: Connects to SSC QUP5 of QRB5165 SoC, to be configured to CS.
 SPI3_CS1: Connects to SSC QUP5 of QRB5165 SoC, to be configured to gyroscope CS.
The DIP switch (see Section 1.2.2, #16) pin5 is used to select between the onboard 6-axis
sensor ICM-42688 and expansion connector. When set to ON, will enable SPI to LS3; when
set to OFF, will enable SPI to on board sensor ICM_42688.
4.3.2 SSC I2C
The RB5 implements a SSC I2C interface for different sensors that connect to QRB5165
sensor core. 2.2k resistors are used in SOM to pull signals up for each of the I2C lines per
the I2C specifications. The signals are:
 I2C4_SDA: Connects to SSC QUP0 of QRB5165 SoC, Be configured to I2C SDA.
 I2C4_SCL: Connects to SSC QUP0 of QRB5165 SoC. Be configured to I2C SCL