====== Controller ======

[{{  :images:hardware:arm-can:modules:controller_enclosure.jpg?250|Controller module}}]
/*
[{{  :images:hardware:arm-can:main_board_1.jpg?250|Board front view}}]
[{{  :images:hardware:arm-can:main_board_2.jpg?250|Board back view}}]
*/

===== Features =====

**MCU**
  * Texas Instruments (former Luminary Micro) LM3S5632
  * 32-bit 50Mhz ARM Cortex-M3
  * 128 KB flash, 32 KB SRAM
  * CAN 2.0 controller
  * USB 2.0 host/device controller

**Ports**
  * 4 x ADC input (0-3 V measuring range)
  * 4 x PWM output (drives up to 600 mA load)
  * 2 x CAN connector on 1 bus (10 pin header)
  * 1 x SPI
  * 1 x I2C
  * 1 x UART
  * 1 x JTAG (20 pin header)
  * 1 x USB device / host (Micro-AB)
  
Every pin has I/O functionality (except PWM)
ADC and PWM have 3 pin headers with ground and +5 V

**On-board features**
  * 1 x 350 mW RGB LED
  * 1 x Push-button
  * ZigBee expansion board (optional)

**Electrical**
  * Supply voltage 5 ± 0,25 V
  * Powered from CAN bus, DC jack or USB device port
  * Can draw up to 2 A from CAN bus or DC jack and up to 500 mA from USB port after enumeration. This includes on-board electronics.
  * Reverse voltage and overcurrent (2 A) protection.

**Physical**
  * Dimensions 61 x 50,6 x 13,2 mm
  * Weight ~18 g
  * Optional housing (increases height)

~~CL~~

===== Connectors =====

[{{  :images:hardware:arm-can:connectors:controller_connectors.png|ARM-CAN connectors}}]

The following chapters describe each of the connectors on ARM-CAN Controller module. To recognize the connectors the Controller has to be held as shown on the picture.

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==== PWM ====

[{{  :images:hardware:arm-can:connectors:controller_pwm1.png|PWM1 connector}}]
[{{  :images:hardware:arm-can:connectors:controller_pwm2.png|PWM2 connector}}]

PWM1/2 connector has standard RC-servo compatible pinout. In both connectors there are two vertically placed RC-servo pinouts (signal, supply, ground) therefore up to 4 RC-servos can be driven. Controller board supplies up to 2 A total (not counting other consumers) from PWM supply pins. PWM1/2 connector can also be used to drive DC motor which should be connected between leftmost PWM signal pins. Those signals are driven by 5V 600 mA MOSFET half-bridges and can form a full H-bridge. Because of transistors PWM signals can only be used as output.

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==== ADC====

[{{  :images:hardware:arm-can:connectors:controller_adc1.png|ADC1 connector}}]
[{{  :images:hardware:arm-can:connectors:controller_adc2.png|ADC2 connector}}]

Both ADC1 and ADC2 connectors have two RC-servo like pinouts. There are ground, supply and input-output pins. It is easy to connect simple sensors like potentiometer, thermistor, IR distance sensor and ultrasonic distance sensor to these pins. I/O pins can be used as +5 V compatible inputs or outputs with +3.3 V high level. These connectors can also be used to control RC-servos with software PWM when the servo accepts 3.3 V signal.

~~CL~~

==== COMM====

[{{:images:hardware:arm-can:connectors:controller_communication.png|COMM connector}}]

COMM connector is a combination of UART, SPI and I2C interfaces. Beside the +5 V supply it contains +3.3 V supply which supplies up to 700 mA. COMM connector is intended to connect with ARM-CAN User Interface and that is why it also features 2 ADC and 1 PWM pins, which are used by the joystick and speaker. 

==== JTAG ====

[{{:images:hardware:arm-can:connectors:controller_jtag.png|JTAG connector}}]

ARM-CAN Controller board has a standard 20-pin JTAG connector with essential pins for programming and debugging. Although the kit contains ARM-CAN programmer, other standard ARM debuggers can be used.

==== CAN ====

[{{  :images:hardware:arm-can:connectors:controller_can.png|CAN connector(s)}}]

ARM-CAN Controller board contains two identical CAN 10-pin header connectors. Both of the connectors are on the same bus, therefore CAN network can be formed by daisy-chaining several Controllers. There is no CAN signal terminator on the Controller board so external terminators should be used.

Microcontroller CAN RX and TX pins which connect to the on-board CAN translator are marked with orange color on the image.

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==== USB ====

[{{:images:hardware:arm-can:connectors:controller_usb.png|USB pins}}]

~~CL~~

The controller board incorporates the USB micro-AB connector on the right side. Although micro-AB is intended for OTG applications the same connector can be used for device-only and host-only applications. USB inteface has ESD protection on bus and 750 mA fuse on supply line. USB power supply is bi-directional. When  the controller acts as a USB device, current from the USB bus to controller board flows through a Schottky diode, when the controller is used as a host, external power switch to USB bus can be opened with USB_EPEN high signal.

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==== RGB LED ====

[{{  :images:hardware:arm-can:connectors:controller_rgb.png|RGB LED pins}}]

In the middle of the controller board there is a 350 mW RGB LED. Each of the three colors are driven by separate signal. Green LED has a pull-up resistor which lights up green led by default. It can be turned off when microcontroller pin is configured as output with low signal.

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==== Buttons ====

[{{  :images:hardware:arm-can:connectors:controller_btn.png|BTN pin}}]

There are two buttons on board. The left one resets microcontroller when pressed; the right one is used as a custom button for user application. The button has an RC filter which filters button bounces.

~~CL~~
/*
===== Schematics =====

  * {{:datasheets:arm-can:controller.pdf|Schematics}}
*/