1 2 3 4 5 6 7 8

VDD3V3 COU6
U6 1.8V
PIU601
1
VIN VOUT PIU605
5 1.8V Addr 0xEE
PIC3202 PIC3 02 2
PIU602 GND
COU7
U7
3V3OUT1
COC32
C32 COC33
C33 3
PIU603
EN BP
4
PIU604 PIC3402 PIC3502 8
PIU708
VDD GND
1
PIU701
GND
PIC3201 10uF PIC3 01 1uF PIC3601 COC34
C34 COC35
C35 7 2

3V3OUT1
PIC3401 PIC3501 PIU707 GND CSB PIU702
RT9193-1.8GB
PIC3602
COC36
C36
22nF
1uF 0.1uF 6
PIU706
5
VDDIO SDA
3 I2C_SDA
PIU703
4 I2C_SCL 1.8V
NL3V OUT1NLD0N

D_N
D_P
NLD0P

GND
PIU705 SDO SCL PIU704 5V
GND COP2
P2

POWER GND GND

BMP280 I2C address=1110111x(R/W)
PIC7COC7
0C7
1 COC20
PIC2C20
0 2 PIC2101 PIU307 PIU306 PIU305 PIU304 PIU30 PIU302 PIU301 5V
1
PIP401 2
PIP402 2
PIP202 1
PIP201
5V

7
6
5
4
3
2
1
COC37
C37 COU3
U3 3 4 IIC_SDA 4 3
COC21
C21 PIP403 PIP404 PIP204 PIP203

PIC7010uF
2 PIC21050 1 PIC2102 0.1uF CP2102N 5 6 IIC_SCL 6 5

REGIN
VDD

GND
RI/CLK
DCD
D-
D+
1.8V PIC3702 PIC3701 GND NLP0TX
PIP405 PIP406 PIP206 PIP205
COC42
C42 P_TX 7
PIP407 8
PIP408 8
PIP208 7
PIP207 P_TX
COC39
C39 100nF 29 GND NLP0RX
P_RX 9 10 10 9 P_RX
1.8V PIC4201 PIC4202 GND GND PIU3029 GND PIP409 PIP4010 PIP2010 PIP209
A PIC3901 PIC3902 8
PIU308 28
PIU3028 11
PIP4011 12
PIP4012 12
PIP2012 11
PIP2011 A
VDD3V3 GND COU9 VBUS DTR
VDD3V3 1.8V U9 1.8V 9 27 13 14 14 13
100nf GND PIU309 RST DSR PIU3027 PIP4013 PIP4014 PIP2014 PIP2013
100nf QMI8658C 10 26 15 16 16 15
PIU3010 NC TXD PIU3026
NLRXD1
PIP4015 PIP4016 PIP2016 PIP2015
VDD3V3 1.8V GND PIU9011 2
PIU902 11
PIU3011 25
PIU3025 RXD1COR15
R15
PIR1502 1K
PIR1501
NLCP0RX
CP_RX 17
PIP4017 18
PIP4018 18
PIP2018 17
PIP2017
COU10 SDO/SAO SDx SUSPEND RXD
U10 PIR3702 PIR3802 I2C_SDA 14
PIU9014 SDA SCx
3
PIU903 12
PIU3012 SUSPEND RTS
24
PIU3024 19
PIP4019 20
PIP4020 20
PIP2020 19
PIP2019
PIR3902 PIR40 2

IO3/WAKEUP
14
PIU10014 1 COR37
R37 COR38
R38 I2C_SCL 13 13 23 21 22 22 21
COR39
R39 COR40
R40 NLMPU0INT2 VCCB VCCA PIU1001NLINT2 4.7k 4.7k
PIU9013
1.8V PIU9012
12 SCL PIU3013
CHREN CTS PIU3023 PIP4021 PIP4022 PIP2022 PIP2021

IO2/RS485
MPU_INT2 13 2 INT2 CS 10 14 22 COH7 23 24 24 23
B1 A1 PIU1002NLINT1
PIU10013
PIR3701 PIR3801 NC PIU9010 PIU3014 CHR1 IO4 PIU3022 H7 PIP4023 PIP4024 PIP2024 PIP2023

IO1/RXT
IO0/TXT
4.7k 4.7k NLMPU0INT1
MPU_INT1 12
PIU10012 3 INT1 INT1 PIU904
4 11 25 26 26 25
PIR3901 PIR40 1 B2 A2 PIU1003 INT1 NC PIU9011
CP_RX PIP4025 PIP4026 PIP2026 PIP2025

CHR0
IIC_SCL 411 I2C_SCL INT2 PIU909
9 PIH701 1 27 28 28 27

VDDIO
B3 A3 PIU1004
PIU10011 INT2 PIP4027 PIP4028 PIP2028 PIP2027

IO6
IO5
NLIIC0SDA PIH702
IIC_SDA 10 5 I2C_SDA 2 29 30 30 29

VDD

GND
GND
B4 PIU10010
A4 PIU1005 GND PIP4029 PIP4030 PIP2030 PIP2029
9
PIU1009 6 PIH703 3 31 32 32 31
NC NC PIU1006 NL5V
5V PIP4031 PIP4032 PIP2032 PIP2031
PIR4102
8
PIU1008 OE
7
GND PIU1007
PIU3015 PIU3016 PIU3017 PIU3018 PIU3019 PIU302 PIU3021 PIH704
4 33
PIP4033 34
PIP4034 34
PIP2034 33
PIP2033

15
16
17
18
19
20
21
PIU908 PIU905 PIU906 PIU907 0
35
PIP4035 36
PIP4036 36
PIP2036 35
PIP2035

8
5

6
7
COR41
R41 LSF0204PWR PIH700
0 37 38 38 37
PIP4037 PIP4038 PIP2038 PIP2037
10k PH2.0 39
PIP4039 40
PIP4040 40
PIP2040 39
PIP2039
PIR4101 GND
1.8V GND
COC40
C40 1.8V COP4
P4

LSF0204PWR NLI2C0SDA
I2C_SDA
NL108V
B2
COU8
PIU80B2
1.8V PIU80B1
B1
U8
SDA
1.8V PIC4002 PIC4001

100nF
COC41
C41
GND
GND USB to UART LIDAR GND GND
GND GND

NLI2C0SCL VDD 1.8V PIC4102 PIC4101 GND

I2C_SCL A2
PIU80A2
A1
SCL
PIU80A1 VSS
100nF
COC38
C38
6-Axis + 3-Axis
AK09918C
1.8V PIC3802 PIC3801 GND
GND
100nF

MBR230LSFT1G
VDDUSB1 COD2
D2
PID201 PID202
COL2 COR2
R2 2.2K

PWR-IN NLBST
BST PIR101
COR1
R1
3.3
PIR102
5V-5A VDDUSB COD1
D1
GND
L2
PIL202 PIL201 PIR202 PIR201 VDD3V3

PIC101 COC1
MP8759(MP8756) PIU108 C1 PID101 PID102 COAMS01
AMS-1

8
COM3
M3 COU1
MOSFET-P (SO-8) PIC102 220nF COL1
L1 MBR230LSFT1G

Vo
Vi
G
5V

BST
1.5uH 7*7*5 COM1
COH1 AO4407 COSW1 6-12V M1 VDD5V VDD5V VDD3V3
H1 SW1 NLSW NL5V0Vout PIAMS01 3 PIAMS01 PIAMS01 2
VIN 1
PIU101 7
PIU107 SW PIL101 PIL102 Vout 5V_Vout 8
PIM108 1 3V3
1 8 1 Vin SW S PIM101
D

3
1
2
PIH101 VDD_DC_JACK PIM308
NLVDD0DC0JACK
1 D S PIM301 PIR502 7 2
1
2
3

2 7 2 R3
COR3 C2
COC2 PIM107 D
S PIM102 AMS1117-3.3
B 2 PIH102 PIM307 D
6
S PIM302
3 PISW101 PISW102 PISW103 PIR402 NC/499k NC/220pF 6
PIM106 3
S PIM103
D PITVSCOTVS1
10
TVS1 B
PIC301 PIC401COC4 PIC501 5 NLVout PIC1402 PICCOC6
602C6 PIPWR101 PI WR20 PIPWR301 PIPWR402

LTVS16H5.0ET5G
PIM306 D S PIM303 C3
COC3 C4 C5
COC5 COR4 NLNC Vout PIC801COC8 5 4
C8 PIC901 COC9
C9 PIC10 1COC10
C10 PIC1 COC11
01C11 PIC1201COC12
C12 PIC1301COC13
DC_IN R4 NC 4 COQ1
5
PIM305 4 Switch1P2T PIU104
NC Vout PIU105 PIR301 PIR302 PIC201 PIC202 COR5
R5 C13
PIQ102 Q1 PIM105 D
G PIM104 PIQ202
D G PIM304 1.5M PNP COC14
C14 COPWR1
PWR1 COPWR2
PWR2 COPWR3
PWR3 COPWR4
PWR4
PIR4902

100uF/10V
0 PNP
PIC302 PIC402 22uF PIC502 75k MOSFET-P (SO-8)PIQ201 COQ2 PIC1401 PIC601 PIPWR102 PI WR201 PIPWR302 PIPWR401
0 PIH100
Header 2+0
R49
COR49
2K
22uF 100nF
PIR4NLEN
0EN
1 12
PIU1012 EN FB
11
PIU1011
NLFB
FB
PIR601 PIR602
PIR501
FB
PIC802 100nFPIC902 22uFPIC10 2 22uFPIC1 02 22uFPIC1202 22uF PIC1302 100nF
PIQ103
PIQ101
AO4407
Q2

PIQ203
10uF 10uF 104 10uF 104
PITVS102
NLMODE
MODE
6
PIC1501 PIR702 PIR801 PIR901
PIR4901 R6
COR6 R7
COR7

AGND
GND PIR10 2 PIU106 MODE C15
COC15

PGND
GND NC/499R COR8
R8 COR9
R9
PIC1502 100nF

VCC
GND 10k
100K 470K

PG
COR10 GND

DC_IN
R10
NS
PIU103 PIU109 PIU10 PIU102
PIR701 PIR802 PIR902
Power

10

2
GND
COU2
U2
PIR10 1

PG
COR11 NLVIN NLPG GND GND
1
PIU201 8 R11 VIN VCC_1 GND COType0C1
Type_C1 COType0C2
Type_C2
A1 IN+ PIU208 PIR1101 PIR1102
2
PIU202 A0
7
IN- PIU207
PIR1201 A12/B1 A12/B1
IIC_SDA PIU203
3 6 R12
PIType0C10A120B1 GND PIType0C20A120B1 GND
NLIIC0SCL SDA GND PIU206 GND 0.01R COR12
PIC1601 COC16 A9/B4 A9/B4
IIC_SCL PIU204
4 5 AGND C16 VDDUSB PIType0C10A90B4 VBUS VDDUSB1 PIType0C20A90B4 VBUS
SCL Vs PIU205
PIC1702 3V3 100K
1uF
NLIP1
IP1 B5
PIType0C10B5 CC2
NLCC2
CC2 B5
PIType0C20B5 CC2
COC17 COR18
R18 5.1K A8 COR42
R42 5.1K A8
C17 PIR1202 PIC1602 PIType0C10A8
B6
SBU1 PIType0C20A8
D_P PIType0C20B6
B6
SBU1
INA219(SOP-8) PIC1701 104
PIR1801
USBD_P
PIR1802 PIType0C10B6
DP2
PIR4201 PIR4202
DP2
0x42 R13 COR13 COR14
R14 A7 A7
NLVCC01
VCC_1PIR1301 PIR1302 PIR1401 PIR1402
GND USBD_N PIType0C10A7
A6
DN1 GND PIType0C20A7
A6
DN1
PIR2001 PIR2002 PIType0C10A6 DP1 PIR4301 PIR4302 PIType0C20A6 DP1
GND NS NS
AGND GND 5V Power for RPi/Jetson nano COR20
R20 5.1K NLIP0
IP0 A5
B7
PIType0C10B7
PIType0C10A5
B8
PIType0C10B8
A4/B9
DN2
CC1
SBU2
COR43
R43 5.1K
D_N PIType0C20B7
NLCC1
CC1 A5
B7
PIType0C20A5
B8
PIType0C20B8
A4/B9
DN2
CC1
SBU2
VDDUSB PIType0C10A40B9 VBUS VDDUSB1 PIType0C20A40B9 VBUS
A1/B12 A1/B12
PIType0C10A10B12
GND PIType0C20A10B12
GND
PIC1901 MTB
PIType0C10MTB GND PIC4301 MTB
PIType0C20MTB GND
VDD3V3 VDD3V3 U0TX P_RX COC19
C19 COC43
C43
U0RX P_TX PIC1902 10uF PIC4302 10uF
GND
PIR1601 PIR1701 COM2
M2
3V3OUT
PIR1602
COR16
R16
10K
NL#EN
#EN IO0 PIR1702
COR17
R17
10K
#EN
NLVDD3V3
VDD3V3 PIM202
2
1
PIM201

3
GND
VDD33
PAD
39
38
GND PIM2038
37
GPIO23 PIM2037
PIM2039

NLIO23
IO23
GND
S4
IO27
IO23
B_C1
S4
GND GND
Type_C GND GND
USBD_N

PIC1COC18
802C18 NLIO22
3V3OUT

USBD_P

NL3V OUTNLUSBD0N LUSBD0PNLGND CHP_PU 36 IO22 IO22 S3

PIM203 S3
3V3OUT NLSVP
SVP 4 GPIO22 PIM2036
NLSVN PIM204 SENSOR_VP 35 U0TX
GND

5V SVN 5 U0TXD PIM2035

PIC1801104 NLA0C1 NLIO34
PIM205 SENSOR_VN 34 U0RX IO21 S2
A_C1 IO34 6 U0RXD PIM2034
PIS20 PIS102 COS1
10K R44

10K/NC R45

PIM206 NLIO21 NLU0TXD

COR44 COR45 NLIO35 GPIO34 33 IO21 S2 IO17 S1 U0TXD P_RX

PIC4COC44
0C44
1 PIC4COC45
5C45
02 PIC4601 PIU107 PIU106 PIU105 PIU1 04 PIU103 PIU1 02 PIU10 PIR401 PIR4501 GND
S1
A_C2
NLA0C2 IO35
IIC_SDA NLIO32
IO32
7
PIM207 GPIO35
8
PIM208
GPIO32
GPIO21 PIM2033
32
NC PIM2032
31 NLIO19
IO19
IO16 B_C2 NLU0RXD
U0RXD P_TX
7
6
5
4
3
2
1

COU11 U1TXD
COC46
C46 U11 COS2 IIC_SCL NLIO33
IO33 9 GPIO19 PIM2031 NLIO18 COP1
P1
S2 KEY_RST/USER KEY_FLASH NLIO25
PIM209 GPIO33 30 IO18 U1RXD
CP2102N S0 IO25 10 GPIO18 PIM2030 NLIO5 VDD3V3 COP3
P3 COR19
PIC4 010uF
2 PIC45105
01 PIC4602 0.1uF PIM2010 GPIO25 29 IO5 1 PIP101 R19 10R
REGIN
VDD

GND
RI/CLK
DCD
D-
D+

PIR4 02 PIR4502 S5 NLIO26

IO26 11 GPIO5 PIM2029 IO34 A_C1 IO5
C 29 GND PIS201 PIS10 NLB0C1
B_C1 IO27
PIM2011 GPIO26
12 GPIO17
28
PIM2028
NLIO17
IO17 S1
IO35 A_C2
COH2
H2 COR46 10R
R46
2 PIP102
IIC_SDA
GND 1 PIP301 PIR1902 PIR1901
VDD3V3 C
U0RX

GND PIU11029 GND PIM2012 GPIO27 27 IO16 IO4 3 PIP103 2 PIP302

U0TX

B_C2
NLB0C2

GND
8
PIU1108
9
VBUS
RST
28 NLDTR
DTR PIU11028
27
DSR PIU11027
DTR
NLU0RXNLU0TX NLIO14
SPI_CK IO14
SPI_SO NLIO12
IO12
13
PIM2013 GPIO14
14
PIM2014 GPIO12
GPIO16 PIM2027
26
GPIO4 PIM2026
25
NLIO4
IO4
IO0
IO25
IO26
S0
S5
1
2
PIH201
PIH202
PIR4602 PIR4601
5V
4 PIP104
IIC_SCL
3 PIP303
4 PIP304
GND
NLIO16
IO16
TXD PIR4701 R471K
PIU1109 COR47
10 26 NLTXD GPIO0 PIM2025 3 PIH203 0 NLIO27
IO27
PIU11010 NC TXD PIU11026 PIR4702 GND GND 0 PIP100 5 PIP305

SCS/CMD
NLRXD

SCK/CLK
SWP/SD2
SHD/SD3

SDO/SD0
11 25 RXD PIR4801 CP_RX

SDI/SD1
PIU11011 SUSPEND RXD PIU11025 PIR4802 Header 3 Header 4 +0 6 PIP306

GPIO13

GPIO15
12 24 NLRTS
RTS COR48
R481K
Key Motor U0RX

GPIO2
PIU11012 SUSPEND RTS PIU11024 7 PIP307

GND
IO3/WAKEUP

13 23 GND
PIU11013 CHREN CTS PIU11023 EN要比 IO0 更快到地。 GND
IO2/RS485

14
PIU11014 22 舵机接口 Header 7
CHR1 IO4 PIU11022
IO1/RXT
IO0/TXT

PIM2015 PIM2016 PIM2017 PIM2018 PIM2019 PIM2020 PIM2021 PIM202 PIM2023 PIM2024
IIC
CHR0

ESP32-WROOM-32UE 15
16
17
18
19
20
21
22
23
24
#EN
IO6
IO5

PIVT103 COVT1 IO15 SD_CS

CMD
NLIO13NLSD2NLSD3NLCMDNLCLKNLSD0NLSD1NLIO15NLIO2
GND
IO13

IO15
VT1 IO13 SPI_MO

CLK
SD2
SD3

SD0
SD1
PIU105 PIU106 PIU107 PIU1 0 8 PIU109 PIU1 02 PIU102
IO2
R22 COR22 12K DTR IO14 SPI_CK
15
16
17
18
19
20
21

PIVT101
PIR2202 PIR2201
IO12 SPI_SO
PIVT102 S8050
GND
COH4
H4
PIH4066
NLMB1
MB1
SPI_MO

SD_CS 6
AUTO PROGRAM CIRCUIT
MicroSD 5 PIH405
5
COR21
PIH4044 PIR2101
R21
3V3
10R B_C1

A_C1

A_C2

B_C1

B_C2
DTR RTS RST GPIO0
1 1 1 1
PIVT20 COVT2
VT2
4
3
3 COR34
R34
PIH403 PIR3401
2
PIR2102
10R
PIR3402
GND
B_C2
COR23
R23 12K RTS 2 PIH402
0 0 1 1 PIVT201
PIR2302 PIR2301
1 PIH401
1 NLMB2
MB2

USB to UART 1 0 0 1
PIVT203 ESP-32UE PID402 PID502 PID602 PID702

NC/LM3Z3V3T1G

NC/LM3Z3V3T1G

NC/LM3Z3V3T1G

NC/LM3Z3V3T1G
S8050
0 1 1 0 0
NLIO0
IO0 0 PIH400 COD4
D4 COD5
D5 COD6
D6 COD7
D7
Header6+0

3.3V

3.3V

3.3V

3.3V
COH3
H3
GND PID401 PID501 PID601 PID701
6 MA1
VDD3V3 6 PIH306
3V3 3V3 3V3 5 3V3
5 PIH305
VDD3V3 4 COR35
R35 10R A_C1
COU4 4 PIH304 PIR3501
COR36 PIR3502
3V3 U4 PIR2802 COR24
R24PIR2401 COR25
R25PIR2502COR26
R26PIR2602COR27
PIR2702
R27 C22 0.1uF
COC22 3
3 R36
PIH303 PIR3601
10R A_C2
PIR3602
GND
PIQ302 Q3
COQ3 TXEN 1 5 R28
COR28
PIC2402 PIC2502 PIC2602 PID302 PID802 VDD3V3 PIC2202 PIC2201 GND PIH3022 GND
LM3Z3V6T1G

COR29
R29 COR30
R30
PIU401 OE VCC PIU405 D3
COD3 NC 10K 10K 10K 2
PIC30 1 COC30
C30 PIC3102CC31
330uF/6.3V

U1TXD
NLU1TXD PNP U1TXD U1TXD 2 10K COC24 COC25 COC26 OC31 COD8
D8 1 MA2
PIR2901 PIR2902 PIQ301 PIR3001 PIR3002 PIU402 A C24 C25 C26 1 PIH301
PIR2801
LL4148

3 4 DATA
10K 10K PIU403 GND Y PIU404
PIC2401 0.1uF PIC2501 0.1uF PIC2601 1uF PIR2402 PIR2501 PIR2601 PIR2701 PIC2702 PIC2701 DC_IN
0.1uF

PIQ303 PIC30 2 PIC3101 C27 10uF

COC27
PIR3101
COR31
R31
PIR3102
NLU1RXD
U1RXD NLTXEN
TXEN SN74LVC1G126DBV PID301 PID801 Header6+0
0
0 PIH300 COC23
C23
PIC2301 PIC2302
10uF
10K PIR3202 GND GND
3.6V

COC28
C28
COR32
R32 GND PIC2802 PIC2801
10K COU5
U5
COTB1
TB1 0.1uF
3V3
GND
GND COTF1
TF1 COMOTOR0A1
MOTOR-A1
1 24
U1TXD IO19 PIR3201 TXEN 1
PIU501 OE VCC PIU505
5
1 0
0
PIMOTOR0A100 GND
PITB101
2
AO1 VM1 PITB1024
23 NLS0
S0
PIR3 02 NLDATA
DATA 2
PIU502 A SD_CS
NLSD0CS
PITF101
2
D2
9
PITB102
3
AO1 PMMA PITB1023
22 S1
NLS1
COR33
R33 3 4 U1RXD PITF102 CD/D3 CD PITF109 2 MA1 PITB103 PGND1 AIN2 PITB1022
D U1RXD IO18 10K
PIU503 GND Y PIU504 GND NLSPI0MO
SPI_MO PITF103
3
CMD
2 PIMOTOR0A102
1 MA2
4
PITB104 PGND1
21
AIN1 PITB1021
NLS2
S2 D
H5
COH5 VDD3V3 PITF104
4 1 PIMOTOR0A101 5 20 3V3
NL3V3 0.1uF
PIR3 01 SN74LVC1G125DBV VDD Header 2+0 PITB105 AO2 Vcc PITB1020 PIC2902 PIC2901

GND 3 PIH503
DC_IN NLSPI0CK
SPI_CK PITF105
5
CLK COMOTOR0B1
MOTOR-B1
6
PITB106 AO2
19
STBY PITB1019
COC29
C29
GND 6 7 18
2 PIH502 PITF106 VSS 0 PITB107 BO2 GND PITB1018
DATA
PID902 COD9 NLSPI0SO
SPI_SO 7 0 PIMOTOR0B100 GND 8 17 NLS3
S3
GND

GND 1 PIH501 PITF107 D0 PITB108 BO2 BIN1 PITB1017

8 9 16 NLS4
S4
D9
PITF108 D1 2 MB1 PITB109 PGND2 BIN2 PITB1016 NLS5
Header 3 2 PIMOTOR0B102 10 15 S5 GND
1 MB2 PITB1010 PGNG2 PWMB PITB1015
PID901 PITF10 1 PIMOTOR0B101 11 14
LL4148

Header 2+0 BO1 VM3 PITB1014

10

PITB1011
12 13
PITB1012 BO2 VM2 PITB1013
TF-SD
MOTOR-A2
COMOTOR0A2 MOTOR-B2
COMOTOR0B2 TB6612FNG
GND GND
COH6 GND 0 0
H6 0 PIMOTOR0A200 GND 0 PIMOTOR0B200

W
DC_IN
3 PIH603 2 NLMA1
MA1 2 MB1

COlogo1
aveshare
General Driver for Robots 2 PIH602
1 PIH601
Header 3
DATA MicroSD GND

Header 2+0
2
1
PIMOTOR0A202
1
PIMOTOR0A201
MA2
NLMA2
2 PIMOTOR0B202
1
1 PIMOTOR0B201
Header 2+0
MB2

Motor
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