# Voltage-domain ERC — rover-drive-controller-drives 0 error(s), 8 warning(s). Ambient 40 °C. Specs: `specs/parts/`. ## Findings | sev | code | where | detail | |---|---|---|---| | WARN | NO_SPEC | TP1 | no spec for TestPad (rover:TestPoint) — add specs/parts/.yaml | | WARN | NO_SPEC | TP2 | no spec for WirePad (rover:WirePad) — add specs/parts/.yaml | | WARN | NO_SPEC | TP3 | no spec for WirePad (rover:WirePad) — add specs/parts/.yaml | | WARN | NO_SPEC | TP4 | no spec for WirePad (rover:WirePad) — add specs/parts/.yaml | | WARN | NO_SPEC | TP5 | no spec for WirePad (rover:WirePad) — add specs/parts/.yaml | | WARN | NO_SPEC | TP6 | no spec for TestPad (rover:TestPoint) — add specs/parts/.yaml | | WARN | NO_SPEC | TP7 | no spec for TestPad (rover:TestPoint) — add specs/parts/.yaml | | WARN | REG_HEADROOM | U3 | load 3126.1 mA = 89 % of 3500 mA | ## Rails (power budget) | rail | source | V | load mA | rated mA | use | nets | |---|---|---|---|---|---|---| | +3V3 | U4 | 3.23..3.37 | 116.1 | 800 | 15 % | +3V3 | | +6V | U3 (R8=64900 / R9=10000) | 5.81..6.17 | 3126.1 | 3500 | 89 % | +6V, SW, +6V_LDO | | VBAT | external | 6..12.6 | 0.0 | - | | VBAT | | VM | external | 5.9..12.6 | 3564.9 | - | | VM | ### Loads | rail | net | ref.pin | mA | |---|---|---|---| | +3V3 | +3V3 | U1.24 | 30.00 | | +3V3 | +3V3 | U5.5 | 0.10 | | +3V3 | +3V3 | U5.8 | 1.00 | | +3V3 | +3V3 | J7.2 | 80.00 | | +3V3 | +3V3 | J9.1 | 5.00 | | +6V | +6V | J5.2 | 3000.00 | | +6V | +6V_LDO | U4.in | 126.10 | | VM | VM | U2.1 | 10.00 | | VM | VM | U3.2 | 0.50 | | VM | VM | U3.in | 3554.45 | ### Beads / series inductors | ref | from | to | mA | DCR Ω | drop mV | rated mA | |---|---|---|---|---|---|---| | L1 | +6V | SW | 0.0 | 0 | 0.0 | - | | FB1 | +6V | +6V_LDO | 126.1 | 0 | 0.0 | - | ## Thermal budget | ref | part | P mW | basis | θJA °C/W | Tj °C | limit °C | | |---|---|---|---|---|---|---|---| | U1 | STM32F411CEU6 | 101 | Σ V·I_max of supply pins | 32 | 43 | 105 | ok | | U2 | DRV8701ERGER | 126 | Σ V·I_max of supply pins | 34.8 | 44 | 150 | ok | | U3 | TPS54360DDAR | 1678 | 19294 mW out @ η 0.92 | 42 | 110 | 150 | ok | | U4 | AMS1117-3.3 | 403 | (6.17-3.23) V x 116 mA | 90 | 76 | 125 | ok | ## Power out through connectors Regulator outputs that leave the board (declared in erc.yaml `connector_loads`; the regulator's total capacity is the lower of its rating and its thermal limit at the worst-case input and ambient). | pin | rail | source | declared mA | rated mA | thermal mA | board's own mA | left mA | | |---|---|---|---|---|---|---|---|---| | J5.2 (Pin_2) | +6V | U3 | 3000 | 3500 | 4880 | 126 | 3374 | servo supply: the 6 V buck is rated 3 A for the servo | | J7.2 (Pin_2) | +3V3 | U4 | 80 | 800 | 300 | 31 | 269 | GPS module 3.3 V: the AMS1117 (SOT-223) has the margin; modules draw 25-50 mA | | J9.1 (Pin_1) | +3V3 | U4 | 5 | 800 | 300 | 31 | 269 | SWD header VTref: only a sense input for the debug probe | ## Per-pin table | ref | pin | name | type | net | V | limit | status | |---|---|---|---|---|---|---|---| | D1 | 1 | K | passive | VM | 5.9..12.6 | | ok | | D1 | 2 | A | passive | GND | 0 | | ok | | D2 | 1 | K | passive | SW | 5.81..6.17 | | ok | | D2 | 2 | A | passive | GND | 0 | | ok | | D3 | 1 | K | passive | GND | 0 | | ok | | D3 | 2 | A | passive | LED_RUN_A | 0..3.37 | | ok | | D4 | 1 | K | passive | GND | 0 | | ok | | D4 | 2 | A | passive | LED_FLT_A | 0..3.37 | | ok | | J5 | 1 | Pin_1 | passive | GND | 0 | | ok | | J5 | 2 | Pin_2 | passive | +6V | 5.81..6.17 | | ok | | J5 | 3 | Pin_3 | passive | SERVO_SIG | 0..3.37 | | ok | | J6 | 1 | Pin_1 | passive | GND | 0 | | ok | | J6 | 2 | Pin_2 | passive | - | ? | | nc | | J6 | 3 | Pin_3 | passive | ESC_SIG | 0..3.37 | | ok | | J7 | 1 | Pin_1 | passive | GND | 0 | | ok | | J7 | 2 | Pin_2 | passive | +3V3 | 3.23..3.37 | | ok | | J7 | 3 | Pin_3 | passive | GPS_TX | 0..3.37 | | ok | | J7 | 4 | Pin_4 | passive | GPS_RX | 0..3.37 | | ok | | J8 | 1 | Pin_1 | passive | GND | 0 | | ok | | J8 | 2 | Pin_2 | passive | CON_TX | 0..3.37 | | ok | | J8 | 3 | Pin_3 | passive | CON_RX | 0..3.37 | | ok | | J9 | 1 | Pin_1 | passive | +3V3 | 3.23..3.37 | | ok | | J9 | 2 | Pin_2 | passive | SWDIO | 0..3.37 | | ok | | J9 | 3 | Pin_3 | passive | GND | 0 | | ok | | J9 | 4 | Pin_4 | passive | SWCLK | 0..3.37 | | ok | | J9 | 5 | Pin_5 | passive | GND | 0 | | ok | | J9 | 6 | Pin_6 | passive | SWO | 0..3.37 | | ok | | J9 | 7 | Pin_7 | passive | - | ? | | nc | | J9 | 8 | Pin_8 | passive | - | ? | | nc | | J9 | 9 | Pin_9 | passive | GND | 0 | | ok | | J9 | 10 | Pin_10 | passive | NRST | 0..3.37 | | ok | | Q1 | 1 | S | passive | VM | 5.9..12.6 | | ok | | Q1 | 2 | S | passive | VM | 5.9..12.6 | | ok | | Q1 | 3 | S | passive | VM | 5.9..12.6 | | ok | | Q1 | 4 | G | passive | RPG | 0 | | ok | | Q1 | 5 | D | passive | VBAT | 6..12.6 | | ok | | Q1 | 6 | D | passive | VBAT | 6..12.6 | | ok | | Q1 | 7 | D | passive | VBAT | 6..12.6 | | ok | | Q1 | 8 | D | passive | VBAT | 6..12.6 | | ok | | Q1 | 9 | D | passive | VBAT | 6..12.6 | | ok | | Q2 | 1 | S | passive | OUT1 | ? | | ok | | Q2 | 2 | S | passive | OUT1 | ? | | ok | | Q2 | 3 | S | passive | OUT1 | ? | | ok | | Q2 | 4 | G | passive | GH1 | ? | | ok | | Q2 | 5 | D | passive | VM | 5.9..12.6 | | ok | | Q2 | 6 | D | passive | VM | 5.9..12.6 | | ok | | Q2 | 7 | D | passive | VM | 5.9..12.6 | | ok | | Q2 | 8 | D | passive | VM | 5.9..12.6 | | ok | | Q2 | 9 | D | passive | VM | 5.9..12.6 | | ok | | Q3 | 1 | S | passive | SP | 0 | | ok | | Q3 | 2 | S | passive | SP | 0 | | ok | | Q3 | 3 | S | passive | SP | 0 | | ok | | Q3 | 4 | G | passive | GL1 | ? | | ok | | Q3 | 5 | D | passive | OUT1 | ? | | ok | | Q3 | 6 | D | passive | OUT1 | ? | | ok | | Q3 | 7 | D | passive | OUT1 | ? | | ok | | Q3 | 8 | D | passive | OUT1 | ? | | ok | | Q3 | 9 | D | passive | OUT1 | ? | | ok | | Q4 | 1 | S | passive | OUT2 | ? | | ok | | Q4 | 2 | S | passive | OUT2 | ? | | ok | | Q4 | 3 | S | passive | OUT2 | ? | | ok | | Q4 | 4 | G | passive | GH2 | ? | | ok | | Q4 | 5 | D | passive | VM | 5.9..12.6 | | ok | | Q4 | 6 | D | passive | VM | 5.9..12.6 | | ok | | Q4 | 7 | D | passive | VM | 5.9..12.6 | | ok | | Q4 | 8 | D | passive | VM | 5.9..12.6 | | ok | | Q4 | 9 | D | passive | VM | 5.9..12.6 | | ok | | Q5 | 1 | S | passive | SP | 0 | | ok | | Q5 | 2 | S | passive | SP | 0 | | ok | | Q5 | 3 | S | passive | SP | 0 | | ok | | Q5 | 4 | G | passive | GL2 | ? | | ok | | Q5 | 5 | D | passive | OUT2 | ? | | ok | | Q5 | 6 | D | passive | OUT2 | ? | | ok | | Q5 | 7 | D | passive | OUT2 | ? | | ok | | Q5 | 8 | D | passive | OUT2 | ? | | ok | | Q5 | 9 | D | passive | OUT2 | ? | | ok | | SW1 | 1 | 1 | passive | BTN | 0..3.37 | | ok | | SW1 | 2 | 2 | passive | GND | 0 | | ok | | U1 | 1 | VBAT | supply | +3V3 | 3.23..3.37 | min 1.7 max 3.6 abs 4 | ok | | U1 | 2 | PC13-ANTI_TAMP | io | - | ? | | nc | | U1 | 3 | PC14-OSC32_IN | io | - | ? | | nc | | U1 | 4 | PC15-OSC32_OUT | io | - | ? | | nc | | U1 | 5 | PH0-OSC_IN | io | - | ? | | nc | | U1 | 6 | PH1-OSC_OUT | io | - | ? | | nc | | U1 | 7 | NRST | io | NRST | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 8 | VSSA | ground | GND | 0 | | ok | | U1 | 9 | VREF+ | supply | +3V3 | 3.23..3.37 | min 1.7 max 3.6 abs 4 | ok | | U1 | 10 | PA0-WKUP | io | DRV_EN | 0..3.37 | max 3.53 abs 4 | ok | | U1 | 11 | PA1 | io | IMU_INT1 | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 12 | PA2 | io | CON_TX | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 13 | PA3 | io | CON_RX | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 14 | PA4 | io | - | ? | | nc | | U1 | 15 | PA5 | io | - | ? | | nc | | U1 | 16 | PA6 | io | SERVO_MCU | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 17 | PA7 | io | - | ? | | nc | | U1 | 18 | PB0 | io | ESC_MCU | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 19 | PB1 | io | - | ? | | nc | | U1 | 20 | PB2 | io | BOOT1 | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 21 | PB10 | io | - | ? | | nc | | U1 | 22 | VCAP1 | passive | VCAP1 | ? | | ok | | U1 | 23 | VSS | ground | GND | 0 | | ok | | U1 | 24 | VDD | supply | +3V3 | 3.23..3.37 | min 1.7 max 3.6 abs 4 | ok | | U1 | 25 | PB12 | io | DRV_PH | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 26 | PB13 | io | DRV_NSLEEP | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 27 | PB14 | io | DRV_NFAULT | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 28 | PB15 | io | DRV_SNSOUT | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 29 | PA8 | io | BTN | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 30 | PA9 | io | GPS_TX | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 31 | PA10 | io | GPS_RX | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 32 | PA11 | io | LED_RUN | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 33 | PA12 | io | LED_FLT | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 34 | PA13 | io | SWDIO | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 35 | VSS | ground | GND | 0 | | ok | | U1 | 36 | VDD | supply | +3V3 | 3.23..3.37 | min 1.7 max 3.6 abs 4 | ok | | U1 | 37 | PA14 | io | SWCLK | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 38 | PA15 | io | - | ? | | nc | | U1 | 39 | PB3 | io | SWO | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 40 | PB4 | io | - | ? | | nc | | U1 | 41 | PB5 | io | - | ? | | nc | | U1 | 42 | PB6 | io | I2C_SCL | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 43 | PB7 | io | I2C_SDA | 0..3.37 | max 5.5 abs 7.23 | ok | | U1 | 44 | BOOT0 | input | BOOT0 | 0 | max 9 abs 9 | ok | | U1 | 45 | PB8 | io | - | ? | | nc | | U1 | 46 | PB9 | io | - | ? | | nc | | U1 | 47 | VSS | ground | GND | 0 | | ok | | U1 | 48 | VDD | supply | +3V3 | 3.23..3.37 | min 1.7 max 3.6 abs 4 | ok | | U1 | 49 | EP | ground | GND | 0 | | ok | | U2 | 1 | VM | supply | VM | 5.9..12.6 | min 5.9 max 45 abs 47 | ok | | U2 | 2 | VCP | passive | VCP | ? | | ok | | U2 | 3 | CPH | passive | CPH | ? | | ok | | U2 | 4 | CPL | passive | CPL | ? | | ok | | U2 | 5 | GND | ground | GND | 0 | | ok | | U2 | 6 | VREF | analog | VREF | 0 | min 0.3 max 4.4 abs 5.75 | ok | | U2 | 7 | AVDD | supply_out | AVDD | ? | | ok | | U2 | 8 | DVDD | supply_out | DVDD | 0 | | ok | | U2 | 9 | nFAULT | output | DRV_NFAULT | 0..3.37 | | ok | | U2 | 10 | SNSOUT | output | DRV_SNSOUT | 0..3.37 | | ok | | U2 | 11 | SO | output | SO | ? | | ok | | U2 | 12 | IDRIVE | analog | IDRIVE | 0 | abs 5.75 | ok | | U2 | 13 | nSLEEP | input | DRV_NSLEEP | 0..3.37 | max 5.5 abs 5.75 | ok | | U2 | 14 | EN | input | DRV_EN | 0..3.37 | max 5.5 abs 5.75 | ok | | U2 | 15 | PH | input | DRV_PH | 0..3.37 | max 5.5 abs 5.75 | ok | | U2 | 16 | GND | ground | GND | 0 | | ok | | U2 | 17 | GH1 | passive | GH1 | ? | | ok | | U2 | 18 | SH1 | passive | OUT1 | ? | | ok | | U2 | 19 | GL1 | passive | GL1 | ? | | ok | | U2 | 20 | SN | passive | GND | 0 | | ok | | U2 | 21 | SP | passive | SP | 0 | | ok | | U2 | 22 | GL2 | passive | GL2 | ? | | ok | | U2 | 23 | SH2 | passive | OUT2 | ? | | ok | | U2 | 24 | GH2 | passive | GH2 | ? | | ok | | U2 | 25 | PPAD | ground | GND | 0 | | ok | | U3 | 1 | BOOT | passive | BOOT | ? | | ok | | U3 | 2 | VIN | supply | VM | 5.9..12.6 | min 4.5 max 60 abs 65 | ok | | U3 | 3 | EN | input | - | ? | | nc | | U3 | 4 | RT/CLK | passive | RT | 0 | | ok | | U3 | 5 | FB | passive | FB | 0..6.17 | | ok | | U3 | 6 | COMP | passive | COMP | ? | | ok | | U3 | 7 | GND | ground | GND | 0 | | ok | | U3 | 8 | SW | passive | SW | 5.81..6.17 | | ok | | U3 | 9 | PowerPad | ground | GND | 0 | | ok | | U4 | 1 | GND | ground | GND | 0 | | ok | | U4 | 2 | VOUT | supply_out | +3V3 | 3.23..3.37 | | ok | | U4 | 3 | VIN | supply | +6V_LDO | 5.81..6.17 | min 4.8 max 15 abs 15 | ok | | U4 | 4 | TAB | passive | +3V3 | 3.23..3.37 | | ok | | U5 | 1 | SDO/SA0 | input | GND | 0 | max 3.53 abs 4.8 | ok | | U5 | 2 | SDx | input | GND | 0 | max 3.53 abs 4.8 | ok | | U5 | 3 | SCx | input | GND | 0 | max 3.53 abs 4.8 | ok | | U5 | 4 | INT1 | output | IMU_INT1 | 0..3.37 | | ok | | U5 | 5 | VDDIO | supply | +3V3 | 3.23..3.37 | min 1.62 max 3.6 abs 4.8 | ok | | U5 | 6 | GND | ground | GND | 0 | | ok | | U5 | 7 | GND | ground | GND | 0 | | ok | | U5 | 8 | VDD | supply | +3V3 | 3.23..3.37 | min 1.71 max 3.6 abs 4.8 | ok | | U5 | 9 | INT2 | output | - | ? | | nc | | U5 | 10 | OCS_Aux | nc | - | ? | | nc | | U5 | 11 | SDO_Aux | nc | - | ? | | nc | | U5 | 12 | CS | input | +3V3 | 3.23..3.37 | max 3.67 abs 4.8 | ok | | U5 | 13 | SCL | input | I2C_SCL | 0..3.37 | max 3.53 abs 4.8 | ok | | U5 | 14 | SDA | bus | I2C_SDA | 0..3.37 | | ok | ## Spec sources - `boards/rover-drive-controller-drives/specs/SMBJ15A.yaml` (SMBJ15A): research/SMBJ15A.pdf (sha256 95385273b500...), MDD SMBJ5.0(C)A - SMBJ440(C)A 600 W TVS - `boards/rover-drive-controller-drives/specs/SS56B.yaml` (SS56B): research/SS56B.pdf (sha256 9b14cccd6d43...), MDD SS52B-SS5200B Schottky rectifier, DO-214AA - `boards/rover-drive-controller-drives/specs/KT-0603G.yaml` (KT-0603G): research/KT-0603G.pdf (sha256 770831ccd4b3...), Hubei KENTO KT-0603G spec for approval rev A.0 (LCSC C12624): Absolute Maximum Ratings, Electrical Optical Characteristics - `boards/rover-drive-controller-drives/specs/KT-0603R.yaml` (KT-0603R): research/KT-0603R.pdf (sha256 a3bac1cc9c59...), Hubei KENTO KT-0603R spec for approval rev A.0 (2018-12-06): 4. Absolute Maximum Ratings, 5. Electrical Optical Characteristics, 6.2 Vf bins - `boards/rover-drive-controller-drives/specs/PZ254V-11-03P.yaml` (PZ254V-11-03P): Generic 1x3 2.54 mm header (XFCN, LCSC C2937625); generic, no electrical limits used by ERC - `boards/rover-drive-controller-drives/specs/PZ254V-11-04P.yaml` (PZ254V-11-04P): Generic 1x4 2.54 mm header (XFCN, LCSC C2691448); generic, no electrical limits used by ERC - `boards/rover-drive-controller-drives/specs/PZ127-2x5P.yaml` (PZ127-2x5P): Generic 2x5 1.27 mm SMD header (HX PZ1.27-2x5P TP, LCSC C41376037); generic, no electrical limits used by ERC - `boards/rover-drive-controller-drives/specs/AON6407.yaml` (AON6407): research/AON6407.pdf (sha256 e87c93c653c5...), AOS AON6407 30 V P-channel MOSFET (battery protection) - `boards/rover-drive-controller-drives/specs/AON6512.yaml` (AON6512): research/AON6512.pdf (sha256 17703888b3e4...), AOS AON6512 30 V N-channel AlphaMOS, Rev 1.0 (Mar 2014) - `boards/rover-drive-controller-drives/specs/TS-1187A-B-A-B.yaml` (TS-1187A-B-A-B): research/TS-1187A-B-A-B.pdf (sha256 64b75233cada...), XKB TS-1187A-X-X-X tactile switch (LCSC C318884): drawing, 5.1 x 5.1 mm SMD, 4 pads in two joined pairs - `boards/rover-drive-controller-drives/specs/STM32F411CEU6.yaml` (STM32F411CEU6): research/STM32F411CEU6.pdf (sha256 284b85ff62b0...), ST DS10314 (DocID026289) Rev 4, February 2015: STM32F411xC/xE datasheet - `boards/rover-drive-controller-drives/specs/DRV8701ERGER.yaml` (DRV8701ERGER): research/DRV8701ERGER.pdf (sha256 0bf0440f4a11...), TI DRV8701 brushed DC motor full-bridge gate driver, SLVSCX5B (Jul 2015): PH/EN version (DRV8701E) - `boards/rover-drive-controller-drives/specs/TPS54360DDAR.yaml` (TPS54360DDAR): research/TPS54360DDAR.pdf (sha256 8c7b9eff00b5...), TI TPS54360 4.5-60 V, 3.5 A step-down converter with Eco-mode, SLVSBB4E (Mar 2014) - `boards/rover-drive-controller-drives/specs/AMS1117-3.3.yaml` (AMS1117-3.3): research/AMS1117-3.3.pdf (sha256 189a2651878a...), AMS1117 1 A low dropout voltage regulator - `boards/rover-drive-controller-drives/specs/LSM6DSOTR.yaml` (LSM6DSOTR): research/LSM6DSOTR.pdf (sha256 1074e3973959...), ST LSM6DSO iNEMO 6-axis IMU, DS12140 Rev 2