Wiring Diagrams

Detailed electrical connections and power distribution for the AutoSDV platform.

⚠️ WARNING: Always disconnect batteries before wiring changes

Power Distribution Overview

Upper Power System (22.2V Battery)

Main Battery (22.2V) ──── DC-DC (12V) ──┬── Jetson AGX Orin
                                        ├── ZED Link Capture Card
                                        ├── LiDAR (optional)
                                        └── 5G Module (optional)

Jetson AGX Orin GPIO ──┬── 3.3V Pin 17 ──── MPU9250 (IMU)
                       ├── 5V Pin 2 ─────── KY-003 Hall Sensors
                       └── 5V Pin 4 ─────── PCA9685 PWM Driver

ZED Link ──────────── GMSL2 Cable ───────── ZED X Mini Camera

Motor Power System (7.4V Battery)

Motor Battery (7.4V) ──┬── ESC ──────────── Brushless Motor
                       └── PCA9685 ──────── Steering Servo

NVIDIA Jetson AGX Orin Connections

Main Interfaces

Jetson AGX Orin
├── Power Input
│   └── DC Jack: 12V from DC-DC Converter
│
├── Ethernet Port
│   └── LiDAR Connection (if equipped)
│
├── USB Ports
│   ├── USB Port: USB-to-Ethernet Adapter → 5G Module (if equipped)
│   └── USB Port: GPS Receiver (optional)
│
├── SAMTEC CSI Port (bottom mounted)
│   └── ZED Link Capture Card
│       ├── GMSL2 Ports → ZED X Mini Camera
│       └── DC Power Input (12V)
│
└── GPIO Header (40-pin) → See GPIO Connections section

GPIO Header Connections

I2C Bus 7 (PCA9685 PWM Driver)
├── Pin 3: I2C5_DAT (SDA)
├── Pin 4: 5V Power
├── Pin 5: I2C5_CLK (SCL)
└── Pin 6: Ground

I2C Bus 1 (MPU9250 IMU)
├── Pin 17: 3.3V Power
├── Pin 20: Ground
├── Pin 27: I2C2_DAT (SDA)
└── Pin 28: I2C2_CLK (SCL)

GPIO (KY-003 Hall Sensor)
├── Pin 2: 5V Power
├── Pin 14: Ground
└── Pin 15: GPIO27 Signal

Sensor Connections

LiDAR Connections (Model Specific)

Velodyne VLP-32C:

VLP-32C
├── Power: 12V from DC-DC converter
├── Ethernet: Direct to Jetson
│   ├── IP: 192.168.1.201
│   └── Port: 2368 (data), 8308 (position)
└── GPS Sync: Optional PPS input

Seyond Robin-W:

Robin-W
├── Power: 12V from DC-DC converter
├── Ethernet: Cat6 to Jetson
│   ├── IP: 192.168.1.10
│   └── Port: 2368
└── Sync: IEEE 1588 PTP

Blickfeld Cube1:

Cube1
├── Power: 12V from DC-DC converter
├── Ethernet: RJ45 to Jetson
│   ├── IP: 192.168.1.21
│   └── Port: 8000
└── Status LED: RGB indicator

Camera System (ZED X Mini)

ZED X Mini Camera
└── GMSL2 Fakra Cable ──── ZED Link Capture Card

Note: Camera receives power through GMSL2 connection from ZED Link. The ZED Link is attached to the bottom of the Jetson AGX Orin via SAMTEC CSI port.

IMU (MPU9250)

MPU9250 Module (I2C Bus 1)
├── VCC ────── 3.3V (Jetson Pin 17)
├── GND ────── GND (Jetson Pin 20)
├── SDA ────── I2C2_DAT (Jetson Pin 27)
└── SCL ────── I2C2_CLK (Jetson Pin 28)

Hall Sensor (KY-003)

KY-003 Hall Sensor
├── VCC ────── 5V (Jetson Pin 2)
├── GND ────── GND (Jetson Pin 14)
└── Signal ── GPIO27 (Jetson Pin 15)

GPS Module (Optional)

u-blox GPS (if equipped)
├── VCC ────── 5V (USB powered)
├── GND ────── Ground
├── TX ─────── UART RX (Jetson Pin 10)
├── RX ─────── UART TX (Jetson Pin 8)
└── PPS ────── GPIO (Optional timing)

Motor Control System

PWM Driver (PCA9685)

PCA9685 Board (I2C Bus 7)
├── Power
│   ├── VCC: 5V (Jetson Pin 4)
│   ├── GND: Ground (Jetson Pin 6)
│   └── V+: 7.4V Motor Battery
│
├── I2C Interface
│   ├── SDA ── I2C5_DAT (Jetson Pin 3)
│   ├── SCL ── I2C5_CLK (Jetson Pin 5)
│   └── Addr: 0x40 (default)
│
└── PWM Outputs
    ├── Channel 0: Steering Servo
    ├── Channel 1: ESC Throttle
    └── Channel 2-15: Available

Motor and ESC

Brushless Motor System
├── ESC (Electronic Speed Controller)
│   ├── Input: PWM from PCA9685 Ch1
│   ├── Power: 7.4V from battery
│   └── Output: 3-phase to motor
│
└── Motor (4274/1500kv)
    ├── Phase A,B,C from ESC
    └── Hall sensors (optional)

5G Module (Optional)

MOXA OnCell G4302 (or similar)
├── Power
│   ├── Input: 12V @ 2A
│   └── Ground: Common ground
│
├── Data Connection
│   └── Ethernet → USB-to-Ethernet Adapter → Jetson USB
│
└── SIM Slots
    ├── SIM1: Primary carrier
    └── SIM2: Backup carrier

Battery Management

Battery Monitoring

6S Battery (22.2V) - Upper Power
├── Cell 1-6 Balance Leads
└── JST-XH to Battery Monitor/Alarm

2S Battery (7.4V) - Motor Power
├── Cell 1-2 Balance Leads
└── JST-XH to Battery Monitor/Alarm

Note: Each battery has its own independent monitor with built-in alarm.

GPIO 40-Pin Header Reference

The detailed pinout specification can be found on JetsonHacks.

Physical Layout Note: Pin 1-2 are physically on the rightmost side of the header when viewing the Jetson from above. Pin 39-40 are on the leftmost side.

Device	Label	Pin No. (Upper)	Pin No. (Lower)	Label	Device
	3.3 VDC Power, 1A max	1	2	5.0 VDC Power, 1A max	KY-003
PCA9685	I2C5_DAT General I2C5 Data I2C Bus 7	3	4	5.0 VDC Power, 1A max	PCA9685
PCA9685	I2C5_CLK General I2C #5 Clock I2C Bus 7	5	6	GND	PCA9685
	MCLK05 Audio Master Clock	7	8	UART1_TX UART #1 Transmit
	GND	9	10	UART1_RX UART #1 Receive
	UART1_RTS UART #1 Request to Send	11	12	I2S2_CLK Audio I2S #2 Clock
	GPIO32 GPIO #32	13	14	GND	KY-003
KY-003	GPIO27 (PWM)	15	16	GPIO8
MPU9250	3.3 VDC Power, 1A max	17	18	GPIO35 (PWM)
	SPI1_MOSI SPI #1 Master Out/Slave In	19	20	GND	MPU9250
	SPI1_MISO SPI #1 Master In/Slave Out	21	22	GPIO17 GPIO
	SPI1_SCK SPI #1 Shift Clock	23	24	SPI1_CS0_N SPI #1 Chip Select #0
	GND	25	26	SPI1_CS1_N SPI #1 Chip Select #1
MPU9250	I2C2_DAT General I2C #2 Data I2C Bus 1	27	28	I2C2_CLK General I2C #2 Clock I2C Bus 1	MPU9250
	Reserved	29	30	GND
	Reserved	31	32	GPIO9
	Reserved	33	34	GND
	I2S_FS AUDIO I2S #2 Left/Right Clock	35	36	UART1_CTS UART #1 Clear to Send
	Reserved	37	38	I2S_SDIN Audio I2S #2 Data In
	GND	39	40	I2S_SDOUT Audio I2S #2 Data Out

Next Steps

Hardware Assembly Guide - Physical assembly
Software Installation - Software setup
Core Components - Component specifications

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