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README.md

I/O + Motor-Driver PCB (hardware / KiCad)

The custom board that connects every OOMWOO motor and sensor to the SBC: an STM32 MCU, motor drivers, sensor front-ends, and battery charging on one PCB. The MCU runs firmware / micro-ROS and talks to the Raspberry Pi 5 SBC over a serial / USB link.

Design basis: OOMWOO v1 uses a separate Raspberry Pi 5 as the SBC (ROS2, Nav2, SLAM), so this board is a pure I/O + power board — no application processor on it. There is a starting-point reference schematic (an RK3562 + STM32 combined design), but the on-board Rockchip SoC and its whole subsystem are removed; only the STM32 I/O side is kept and converted to KiCad for review.

References

  • Starting-point schematic (PDF) — makerspet/oomwoo-io-board. An RK3562 + STM32G070 reference (Apache-2.0, unvalidated — a starting point, not a proven design). Trim it down as described below.

  • Drive-wheel connector pinout — AlieksieievYurii vacuum-cleaner motherboard schematic shows the drive-wheel assembly connectors: JST PH2.0, 6-pin —

    Pin Signal
    1 MOT+
    2 MOT-
    3 HALL_SPEED
    4 HALL_DIR
    5 +5V
    6 GND

    Verify against the sourced Roborock-family wheel module before layout — a submission in part-specs describes a variant with extra wheel-drop / limit-switch pins, so confirm the pin count and pinout on a physical module.

  • part-specs — connector pinouts, encoder PPR, and datasheets for the sourced parts.

  • design-document.md — the I/O-board section (MCU, pin budget, offloading the fan to an external ESC, etc.).

  • BOM.md — the sourced parts this board must drive.

  • Project discussions · Discord

Request for Contribution — Instructions

Deliver a KiCad schematic derived from the reference PDF, trimmed to the I/O side and updated for OOMWOO, then hold for review before PCB layout.

  • Remove the Rockchip subsystem entirely — the RK3562 SoC and everything that exists only to support it: LPDDR4 DRAM, eMMC, the SoC PMIC / SoC-specific power rails (VCCIO, PMU / OSC / PLL), the DDR PHY, the USB / PCIe PHY, and the MIPI camera interface. Heavy compute and the camera live on the Raspberry Pi 5 SBC, not this board.
  • Remove the WiFi / BT module (AP6256) — WiFi/BT is provided by the SBC.
  • Keep and convert to KiCad the I/O side:
    • STM32G070 MCU + support (clock, decoupling, debug / boot, the serial / USB link to the SBC)
    • motor drivers — drive wheels (×2), main brush, side brush, water pump, mop lift / spin (if fitted); put the suction fan on an external ESC (one PWM line) to save MCU pins
    • sensor front-ends — cliff / anti-fall IR, docking IR + bumper, side-proximity IR, bumper switches, IMU, LiDAR interface, multizone ToF, ultrasonic carpet sensor
    • battery charging + protection / BMS, and the board power rails that feed the STM32 / sensors / motors (keep these; remove only the SoC-specific rails)
    • speaker + amp, mic, buttons, LEDs
  • Move the battery from 3S to 4S — OOMWOO targets ~14.8 V (see BOM.md). The reference appears to be 3S; update the pack, the charge-IC configuration, the protection, and any cell-count-dependent dividers / thresholds to 4S.
  • Wire the drive-wheel connectors to the JST PH2.0 6-pin pinout above (verified against the sourced module).
  • assume battery Xiaomi/Roborock/Dreame BRR-2P4S-5200
  • Convert the kept design to KiCad (from Altium); keep a clean, readable, hierarchical schematic.
  • Hold here for review. Deliver the trimmed, 4S, KiCad schematic and stop — the maintainer reviews before anyone starts PCB layout / manufacturing.
  • Submit a PR to contributions/io-pcb/<your-github-username>/ with the KiCad project, a short sub-BoM, and notes; announce it in Project Discussions.
  • iterate with review
  • TBD, expect the RFC to evolve

Acceptance criteria (schematic-hold milestone)

  • The entire Rockchip subsystem (SoC, DRAM, eMMC, PMIC / VCCIO / PMU / PLL, DDR + USB/PCIe PHY, MIPI camera) and the WiFi / BT module are removed.
  • The kept blocks (STM32G070, motor drivers, sensor front-ends, battery charging, audio, buttons / LEDs, SBC link) are present, correct, and complete in KiCad.
  • Battery as specified
  • Drive-wheel connectors match the referenced pinout (JST PH2.0 6-pin), reconciled with part-specs.
  • Delivered as a buildable KiCad project; ERC clean; a sub-BoM and short design notes included.
  • Stops at the reviewed schematic — no PCB layout yet.
  • Documented and reproducible.
  • TBD, expect criteria to evolve.

The maintainer intends to accelerate this module and may commission a contributor to do it; community submissions are still welcome and reviewed the same way. The maintainer selects among compliant candidates using these criteria — multiple attempts are welcome and useful even if not selected.

Appendix A. Tentative MCU GPIO list

  1. Power source current sense (analog in)
  2. VBat sense (analog in)
  3. Main fan sense (analog in)
  4. anti-fall left up sensor (analog in because IR sensors are analog)
  5. anti-fall left down sensor (analog in)
  6. anti-fall right up sensor (analog in)
  7. anti-fall right down sensor (analog in)
  8. wheel motor left driver in1 (digital output)
  9. wheel motor left driver in2 (digital output)
  10. wheel motor left driver encoder (digital input)
  11. wheel motor right driver encoder (digital input)
  12. Power button (digital input)
  13. CPU (e.g. Raspberry Pi) power on/off (digital output)
  14. STM32 SWDIO
  15. STM32 SWCLK
  16. Vacuum power on/off (digital output)
  17. Wheel motor right current sense (analog in)
  18. Wheel motor left current sense (analog in)
  19. Main brush motor current sense (analog in)
  20. IMU SPI SCLK (digital out)
  21. IMU SPI MISO
  22. IMU SPI MOSI
  23. IMU SPI CS
  24. Wheel motor right driver in1 (digital out)
  25. Motors power enable (digital out)
  26. Wheel motor right driver in2 (digital out)
  27. Water pump sense (analog in)
  28. Side brush left front motor sense (analog in)
  29. Side brush right front motor sense (analog in)
  30. CPU reset (e.g. Raspberry Pi)
  31. Dock IR sensor 1 (analog in)
  32. Dock IR sensor 2 (analog in)
  33. Water pump motor PWM (digital out)
  34. Main brush motor PWM (digital out)
  35. Lidar motor PWM (digital out)
  36. Bumper switch 1 (digital in)
  37. UART1 TX
  38. UART RX
  39. Side brush motor right PWM (digital out)
  40. Side brush motor left PWM (digital out)
  41. Power LED on/off (digital out)
  42. Home LED on/off (digital out)
  43. Home button (digital in)
  44. Battery charge sense (digital in)
  45. Charge status (digital out)
  46. Bumper switch 1 (digital in)
  47. Bumper switch 2 (digital in)
  48. Test/program
  49. Test/program
  50. Main fan motor PWM (digital out)
  51. Main fan motor current sense (analog in)
  52. IMU interrupt 2 (digital in)
  53. IMU interrupt 1 (digital in)
  54. IMU FSYNC (digital in)
  55. Side proximity IR sensor left (analog in)
  56. Side proximity IR sensor right (analog in)
  57. Side proximity IR LED left PWM (digital out)
  58. Side proximity IR LED right PWM (digital out)
  59. Wheel drop sensor left (digital in)
  60. Wheel drop sensor right (digital in)
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