v3

- Add status LEDs and RGB WS2812
- Move IMU control lines to STM and move it closer to board edge for
  better space efficiency
- Finalize footprints and BOM part references
- Merge SWD and UART to free some space, in reset UART can't be active
  anyways
- Finalize INx pin placement (move away from TIM1x those aren't
  supported by libopencm3) and refine MC assignment (all on same
  timer)

Connector_Molex_CGrid_2x04.kicad_mod

+(module Connector_Molex_CGrid_2x04 (layer F.Cu) (tedit 56F23590)
+  (fp_text reference REF** (at -5.842 -0.127 90) (layer F.SilkS)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text value Connector_Molex_CGrid_2x4 (at 0 4.8) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_circle (center -5.461 -2.286) (end -5.461 -2.413) (layer F.SilkS) (width 0.15))
+  (fp_line (start -5.08 0) (end 5.08 0) (layer F.SilkS) (width 0.15))
+  (fp_line (start -5.08 -2.54) (end -5.08 0) (layer F.SilkS) (width 0.15))
+  (fp_line (start -5.08 2.54) (end -5.08 -2.54) (layer F.SilkS) (width 0.15))
+  (fp_line (start 5.08 2.54) (end -5.08 2.54) (layer F.SilkS) (width 0.15))
+  (fp_line (start 5.08 -2.54) (end 5.08 2.54) (layer F.SilkS) (width 0.15))
+  (fp_line (start -5.08 -2.54) (end 5.08 -2.54) (layer F.SilkS) (width 0.15))
+  (pad 2 smd rect (at -3.81 -2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 1 smd rect (at -3.81 2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 4 smd rect (at -1.27 -2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 3 smd rect (at -1.27 2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 6 smd rect (at 1.27 -2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 5 smd rect (at 1.27 2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 8 smd rect (at 3.81 -2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+  (pad 7 smd rect (at 3.81 2.22) (size 1.27 3.68) (layers F.Cu F.Paste F.Mask))
+)

WS2812.kicad_mod

+(module WS2812 (layer F.Cu) (tedit 56F1AF72)
+  (fp_text reference U6 (at 0 3.175) (layer F.SilkS)
+    (effects (font (size 0.762 0.762) (thickness 0.1016)))
+  )
+  (fp_text value WS2812 (at 0 -3.2) (layer F.SilkS) hide
+    (effects (font (size 0.762 0.762) (thickness 0.1016)))
+  )
+  (fp_line (start -2.5 2.5) (end 2.5 2.5) (layer F.SilkS) (width 0.09906))
+  (fp_line (start -2.5 -2.5) (end 2.5 -2.5) (layer F.SilkS) (width 0.09906))
+  (pad 1 smd rect (at -2.45 -1.6) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+  (pad 2 smd rect (at -2.45 0) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+  (pad 3 smd rect (at -2.45 1.6) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+  (pad 4 smd rect (at 2.45 1.6) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+  (pad 5 smd rect (at 2.45 0) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+  (pad 6 smd rect (at 2.45 -1.6) (size 1.5 1) (layers F.Cu F.Paste F.Mask))
+)

design.org

@@ -119,15 +119,17 @@ drv8833 supplied directly off Vbat (10.8V max)
 
 ** Timers
 
-|       | Type       | Features  | CH | Used                                |
-|-------+------------+-----------+----+-------------------------------------|
-| TIM1  | adv u/d 16 |           |  4 | CH1(IN4), CH2(IN3)                  |
-| TIM2  | u/d 32     | quad-enc. |  4 | CH1, CH2: ME0                       |
-| TIM3  | u/d 16     | quad-enc. |  4 | CH1, CH2: ME1, [CH3(IN2), CH4(IN1)] |
-| TIM14 | u 16       |           |  1 | SRV0                                |
-| TIM16 | u 16       |           |  1 | CH1(IN1)                            |
-| TIM17 | u 16       |           |  1 | CH1(IN2)                            |
-|       |            |           |    |                                     |
+todo: fixup
+
+|       | Type       | Features  | CH | Used                                       |
+|-------+------------+-----------+----+--------------------------------------------|
+| TIM1  | adv u/d 16 |           |  4 | CH1(IN4), CH2(IN3)                         |
+| TIM2  | u/d 32     | quad-enc. |  4 | CH1(ME0A), CH2(ME0B), CH3(ME1A), CH4(ME2B) |
+| TIM3  | u/d 16     | quad-enc. |  4 | CH1, CH2, CH3(IN2), CH4(IN1)               |
+| TIM14 | u 16       |           |  1 | SRV0                                       |
+| TIM16 | u 16       |           |  1 | CH1                                        |
+| TIM17 | u 16       |           |  1 | CH1                                        |
+|       |            |           |    |                                            |
 
 ** Comms
 

imu.sch

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io.sch

@@ -35,7 +35,7 @@ EELAYER 25 0
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-Sheet 5 6
+Sheet 6 6
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@@ -68,10 +69,10 @@ F 3 "" H 5250 2700 50  0000 C CNN
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@@ -125,24 +126,19 @@ Text HLabel 5800 3600 2    60   Input ~ 0
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motor.sch

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power.sch

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 	4350 3050 4350 2750
 Connection ~ 4350 2750
 $Comp
-L GND #PWR023
+L GND #PWR032
 U 1 1 56A43F25
 P 4050 3050
-F 0 "#PWR023" H 4050 2800 50  0001 C CNN
+F 0 "#PWR032" H 4050 2800 50  0001 C CNN
 F 1 "GND" H 4050 2900 50  0000 C CNN
 F 2 "" H 4050 3050 60  0000 C CNN
 F 3 "" H 4050 3050 60  0000 C CNN
@@ -249,10 +246,10 @@ Text HLabel 3900 2750 0    60   Input ~ 0
 Vbat
 Connection ~ 4050 2750
 $Comp
-L GND #PWR024
+L GND #PWR033
 U 1 1 56A44B02
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-F 0 "#PWR024" H 6100 3550 50  0001 C CNN
+F 0 "#PWR033" H 6100 3550 50  0001 C CNN
 F 1 "GND" H 6100 3650 50  0000 C CNN
 F 2 "" H 6100 3800 60  0000 C CNN
 F 3 "" H 6100 3800 60  0000 C CNN
@@ -264,10 +261,10 @@ V5
 Connection ~ 6800 3050
 Connection ~ 6550 3050
 $Comp
-L PWR_FLAG #FLG025
+L PWR_FLAG #FLG034
 U 1 1 56A6F87F
 P 6800 3050
-F 0 "#FLG025" H 6800 3145 50  0001 C CNN
+F 0 "#FLG034" H 6800 3145 50  0001 C CNN
 F 1 "PWR_FLAG" H 6800 3230 50  0000 C CNN
 F 2 "" H 6800 3050 60  0000 C CNN
 F 3 "" H 6800 3050 60  0000 C CNN
@@ -275,10 +272,10 @@ F 3 "" H 6800 3050 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L PWR_FLAG #FLG026
+L PWR_FLAG #FLG035
 U 1 1 56A74980
 P 6950 4000
-F 0 "#FLG026" H 6950 4095 50  0001 C CNN
+F 0 "#FLG035" H 6950 4095 50  0001 C CNN
 F 1 "PWR_FLAG" H 6950 4180 50  0000 C CNN
 F 2 "" H 6950 4000 60  0000 C CNN
 F 3 "" H 6950 4000 60  0000 C CNN
@@ -286,10 +283,10 @@ F 3 "" H 6950 4000 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR027
+L GND #PWR036
 U 1 1 56A749A8
 P 6950 4000
-F 0 "#PWR027" H 6950 3750 50  0001 C CNN
+F 0 "#PWR036" H 6950 3750 50  0001 C CNN
 F 1 "GND" H 6950 3850 50  0000 C CNN
 F 2 "" H 6950 4000 60  0000 C CNN
 F 3 "" H 6950 4000 60  0000 C CNN
@@ -308,10 +305,10 @@ F 3 "" H 8050 3250 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR028
+L GND #PWR037
 U 1 1 56A9BFC0
 P 7650 3500
-F 0 "#PWR028" H 7650 3250 50  0001 C CNN
+F 0 "#PWR037" H 7650 3250 50  0001 C CNN
 F 1 "GND" H 7650 3350 50  0000 C CNN
 F 2 "" H 7650 3500 60  0000 C CNN
 F 3 "" H 7650 3500 60  0000 C CNN
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 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR029
+L GND #PWR038
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 P 8050 3400
-F 0 "#PWR029" H 8050 3150 50  0001 C CNN
+F 0 "#PWR038" H 8050 3150 50  0001 C CNN
 F 1 "GND" H 8050 3250 50  0000 C CNN
 F 2 "" H 8050 3400 60  0000 C CNN
 F 3 "" H 8050 3400 60  0000 C CNN
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 	1    0    0    -1  
 $EndComp
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-L GND #PWR030
+L GND #PWR039
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-F 0 "#PWR030" H 7250 3100 50  0001 C CNN
+F 0 "#PWR039" H 7250 3100 50  0001 C CNN
 F 1 "GND" H 7250 3200 50  0000 C CNN
 F 2 "" H 7250 3350 60  0000 C CNN
 F 3 "" H 7250 3350 60  0000 C CNN
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 Wire Wire Line
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 $Comp
-L PWR_FLAG #FLG031
+L PWR_FLAG #FLG040
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-F 0 "#FLG031" H 8050 3145 50  0001 C CNN
+F 0 "#FLG040" H 8050 3145 50  0001 C CNN
 F 1 "PWR_FLAG" H 8050 3230 50  0000 C CNN
 F 2 "" H 8050 3050 60  0000 C CNN
 F 3 "" H 8050 3050 60  0000 C CNN

robo-cache.lib

@@ -499,18 +499,29 @@ X 2 2 0 -300 100 U 50 50 1 1 P
 ENDDRAW
 ENDDEF
 #
-# Jumper_NO_Small
+# LED
 #
-DEF ~Jumper_NO_Small JP 0 30 N N 1 F N
-F0 "JP" 0 80 50 H V C CNN
-F1 "Jumper_NO_Small" 10 -60 50 H I C CNN
+DEF LED D 0 40 Y N 1 F N
+F0 "D" 0 100 50 H V C CNN
+F1 "LED" 0 -100 50 H V C CNN
 F2 "" 0 0 50 H V C CNN
 F3 "" 0 0 50 H V C CNN
+$FPLIST
+ LED-3MM
+ LED-5MM
+ LED-10MM
+ LED-0603
+ LED-0805
+ LED-1206
+ LEDV
+$ENDFPLIST
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-C -40 0 20 0 1 0 N
-C 40 0 20 0 1 0 N
-X 1 1 -100 0 40 R 50 50 0 1 P
-X 2 2 100 0 40 L 50 50 0 1 P
+P 2 0 1 0  -50 50  -50 -50 N
+P 3 0 1 0  -80 -25  -125 -65  -120 -40 N
+P 3 0 1 0  -65 -40  -110 -80  -105 -55 N
+P 3 0 1 0  50 50  -50 0  50 -50 F
+X K 1 -200 0 150 R 40 40 1 1 P
+X A 2 200 0 150 L 40 40 1 1 P