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<toc-element topic="PCB-alimentation.md">
<toc-element topic="Pilotage-PCB-alimentation.md"/>
</toc-element>
<toc-element topic="PCB-Odométrie.md">
<toc-element topic="Pilotage-PCB-odometrie.md"/>
</toc-element>
<toc-element topic="Panneau-de-commande.md"/>
<toc-element topic="Moteur-CC.md"/>
<toc-element topic="Code-Rasp.md">

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# PCB Odométrie
Start typing here...

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# PCB alimentation
# PCB Alimentation
Mis à jour pour la version [v2](https://github.com/modelec/pcbs_modelec/releases/tag/alim-v2) commandée le 8 mars 2025.
## Introduction
@@ -223,70 +223,70 @@ Documentations :
Les fichiers sources KiCad et les fichiers de fabrication sont téléchargeables dans les [releases Github](https://github.com/modelec/pcb_puissance/releases)
### Bill Of Material
| Référence sur le PCB | Valeur | Numéro de série fabricant | Quantité commandée | Quantité en stock | Description |
|-------------------------------------------------------|---------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------|-------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| BZ1 | Buzzer | [PS1240P02BT](https://product.tdk.com/en/system/files/dam/doc/product/sw_piezo/sw_piezo/piezo-buzzer/catalog/piezoelectronic_buzzer_ps_en.pdf) | 2 | | Buzzer, polarized |
| C1,C3,C5 | 0u39 | [C0805C394K5RACTU](https://content.kemet.com/datasheets/KEM_C1002_X7R_SMD.pdf) | 10 | | Unpolarized capacitor |
| C2,C4,C6 | 39n | [VJ0805Y393KXAAC](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 15 | 15 | Unpolarized capacitor |
| C7 | 1000u | [UVY1H102MHD](https://www.nichicon.co.jp/english/series_items/catalog_pdf/e-uvy.pdf) | 10 | | Polarized capacitor |
| C8 | 10n | [VJ0805Y103KXAMC](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 10 | 10 | Unpolarized capacitor |
| C9,C10,C13,C14,C15,C18,C21,C23 | 100n | [VJ0805Y104KXAMR](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 30 | 30 | Unpolarized capacitor |
| C11 | 4u7 | [VJ0805G475KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| C12 | 1u | [VJ0805Y105KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| C19,C20 | 330p | [VJ0805A331FXACW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 10 | 10 | Unpolarized capacitor |
| C22 | 2u2 | [VJ0805G225KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| D1,D2,D3 | BAT54J | [BAT54J](https://assets.nexperia.com/documents/data-sheet/BAT54J.pdf) | | | 30V 200mA Schottky diode, SOD-323F |
| D4 | ESDA25P35-1U1M | [ESDA25P35-1U1M](https://www.st.com/resource/en/datasheet/esda25p35-1u1m.pdf) | | | Schottky diode |
| D5,D6,D7 | D_Dual_CommonAnode_AKK_Parallel | [BAS70-06](https://diotec.com/request/datasheet/bas70.pdf) | 20 | | Dual diode, common anode on pin 1 |
| F1,F2,F3 | 10A,20A | [3568](https://www.keyelco.com/userAssets/file/M65p42.pdf) | 5 | | Fuse holder |
| F4,F5,F6,F7,F8 | 1A25,6A,10A | [01550900M](https://www.littelfuse.com/assetdocs/littelfuse-fuse-154-series-data-sheet?assetguid=a8a8a462-7295-481b-a91b-d770dabf005b) | 10 | 10 | Fuse holder |
| J1,J2,J3,J4,J5,J6,J10,J12,J13,J15,J16,J18,J19,J21,J22 | 1755736 | [1755736](http://www.phoenixcontact.com/de/produkte/1755736/pdf) | 15 | | PCB header, nominal cross section: 2.5 mm?, color: green, nominal current: 12 A, rated voltage (III/2): 320 V, contact surface: Tin, type of contact: Male connector, Number of potentials: 2, Number of rows: 1, Number of positions per row: 2, number of connections: 2, product range: MSTBVA 2,5/..-G, pitch: 5.08 mm, mounting: Wave soldering, pin layout: Linear pinning, solder pin [P]: 3.9 mm, Stecksystem: CLASSIC COMBICON, Locking: without, type of packaging: packed in cardboard |
| J7 | Conn_02x10_Odd_Even | ~ | | | Generic connector, double row, 02x10, odd/even pin numbering scheme (row 1 odd numbers, row 2 even numbers), script generated (kicad-library-utils/schlib/autogen/connector/) |
| J8 | Conn_ST_STDC14 | [3220-14-0100-00](https://www.st.com/content/ccc/resource/technical/document/user_manual/group1/99/49/91/b6/b2/3a/46/e5/DM00526767/files/DM00526767.pdf/jcr:content/translations/en.DM00526767.pdf) | 10 | | ST Debug Connector, standard ARM Cortex-M SWD and JTAG interface plus UART |
| J11 | USB_C_Receptacle_USB2.0_16P | [USB4105-GF-A](https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/5492/USB4105.pdf) | 25 | | USB 2.0-only 16P Type-C Receptacle connector |
| J14,J17,J20 | Conn_02x06_Odd_Even | ~ | | | Generic connector, double row, 02x06, odd/even pin numbering scheme (row 1 odd numbers, row 2 even numbers), script generated (kicad-library-utils/schlib/autogen/connector/) |
| JP1->JP3 | Jumper_2_Open | ~ | | | Jumper, 2-pole, open |
| JP4 | Jumper_2_Bridged | ~ | | | Jumper, 2-pole, closed/bridged |
| PS1 | TMR_6-2410WI | [TMR_6-2410WI](https://tracopower.com/tmr6-datasheet/) | 3 | 1 | 6 Watt DC/DC converter, industrial, 2:1 input, regulated, 1600 VDC I/O-isolation, encapsulated, SIP-8 |
| PS2,PS3 | THN_30-2411WI | [THN_30-2411WI](https://tracopower.com/thn30-datasheet/) | 2 | 1 | 30 Watt DC/DC converter, industrial, 2:1 input, encpasulated, 1.0" x 1.0" metal package |
| PS4 | TEN_50-2412WI | [TEN_50-2412WI](https://tracopower.com/ten50wi-datasheet/) | 1 | 1 | 50 Watt DC/DC converter, industrial, 4:1 input, encapsulated, 2" x 1" metal package |
| PS5 | THN_30-2415WI | [THN_30-2415WI](https://tracopower.com/thn30-datasheet/) | 1 | 1 | 30 Watt DC/DC converter, industrial, 2:1 input, encpasulated, 1.0" x 1.0" metal package |
| Q1,Q2,Q3,Q4,Q5,Q6 | SUD50P06-15 | [SUD50P06-15-BE3](https://www.vishay.com/docs/68940/sud50p06.pdf) | 15 | 15 | -50A Id, -60V Vds, TrenchFET P-Channel Power MOSFET, 15mOhm Ron, 165nC Qg, -55 to 150 °C, TO-252-2 |
| Q7 | STL40DN3LLH5 | [STL40DN3LLH5](https://www.st.com/resource/en/datasheet/stl40dn3llh5.pdf) | | | |
| Q8 | NPN | [2DC2412R-7](https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/6130/2DC2412R.pdf) | 20 | | Bipolar transistor symbol for simulation only, substrate tied to the emitter |
| Q9,Q10,Q11 | NMOS | [2N7002-7-F](https://www.diodes.com/assets/Datasheets/ds11303.pdf) | 30 | | N-MOSFET transistor, drain/source/gate |
| R1 | 82k | [CRCW080582K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R2 | 100 | [CRCW0805100RFKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R3,R16,R17,R18,R28,R32 | 10k | [CRCW080510K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 20 | 20 | Resistor |
| R4 | 63k4 | [CRCW080563K4FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R5 | 158k | [CRCW0805158KFKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | | Resistor |
| R6 | 1960k | [CRCW08051M96FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | | Resistor |
| R7,R10 | 37k4 | [CRCW080537K4FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R8,R11 | 78k7 | [CRCW080578K7FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R9,R12 | 1180k | [CRCW08051M18FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R13,R14,R15 | 11k5 | [CRCW080511K5FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 15 | 15 | Resistor |
| R19 | 62m 0.5% | [L4CL1206LR062DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 2 | 2 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R20,R22 | 13m 0.5% | [L4CL1206LR013DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 4 | 4 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R21 | 20m 0.5% | [L4CL1206LR020DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 2 | 2 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R23,R24 | 4m 0.5% | [PEWF2512D4L00Q9](https://s.resistor.today/shop/products/epdf/PEWF2512.pdf) | 2 | | Resistor |
| R25 | 7m 1% | [L4CL1206LR007FNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 2 | 2 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R26 | 47k | [CRCW080547K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R27,R31,R33->R35 | 1k | [CRCW08051K00FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 20 | 20 | Resistor |
| R29,R30 | 2k2 | [CRCW08052K20FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| TP1->TP10 | TestPoint | ~ | | | test point |
| U1 | LTC4417IGN | [LTC4417IGN#PBF](https://www.analog.com/media/en/technical-documentation/data-sheets/4417f.pdf) | 2 | 2 | Prioritized PowerPath Controller, Selects Highest Priority Supply from Three Inputs, –40°C to 85°C, SSOP |
| U2 | STM32G491KEU6 | [](https://www.st.com/resource/en/datasheet/stm32g491ke.pdf) | | | |
| U3,U7,U8 | INA236BIDDFR | [INA236BIDDFR](https://www.ti.com/lit/ds/symlink/ina236.pdf) | 3 | | |
| U4,U5,U6 | INA236AIDDFR | [INA236AIDDFR](https://www.ti.com/lit/ds/symlink/ina236.pdf) | 3 | | |
| U9 | TCPP02-M18 | [](https://www.st.com/resource/en/data_brief/tcpp02-m18.pdf) | | | USB Type-C Port Protection for Source application |
| U10 | MCP9808T-E/MS | [MCP9808T-E/MS](https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/MCP9808-0.5C-Maximum-Accuracy-Digital-Temperature-Sensor-Data-Sheet-DS20005095B.pdf) | 3 | 3 | |
|-------------------------------------------------------|---------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------|----------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| BZ1 | Buzzer | [PS1240P02BT](https://product.tdk.com/en/system/files/dam/doc/product/sw_piezo/sw_piezo/piezo-buzzer/catalog/piezoelectronic_buzzer_ps_en.pdf) | 2 | 2 | Buzzer, polarized |
| C1,C3,C5 | 0u39 | [C0805C394K5RACTU](https://content.kemet.com/datasheets/KEM_C1002_X7R_SMD.pdf) | 10 | 10 | Unpolarized capacitor |
| C2,C4,C6 | 39n | [VJ0805Y393KXAAC](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 15 | 15 | Unpolarized capacitor |
| C7 | 1000u | [UVY1H102MHD](https://www.nichicon.co.jp/english/series_items/catalog_pdf/e-uvy.pdf) | 10 | 10 | Polarized capacitor |
| C8 | 10n | [VJ0805Y103KXAMC](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 10 | 10 | Unpolarized capacitor |
| C9,C10,C13,C14,C15,C18,C21,C23 | 100n | [VJ0805Y104KXAMR](https://www.vishay.com/docs/45199/vjcommercialseries.pdf) | 30 | 30 | Unpolarized capacitor |
| C11 | 4u7 | [VJ0805G475KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| C12 | 1u | [VJ0805Y105KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| C19,C20 | 330p | [VJ0805A331FXACW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | | | Unpolarized capacitor |
| C22 | 2u2 | [VJ0805G225KXQTW1BC](https://www.vishay.com/docs/28548/vjw1bcbascomseries.pdf) | 5 | 5 | Unpolarized capacitor |
| D1,D2,D3 | BAT54J | [BAT54J](https://assets.nexperia.com/documents/data-sheet/BAT54J.pdf) | 10 | | 30V 200mA Schottky diode, SOD-323F |
| D4 | ESDA25P35-1U1M | [ESDA25P35-1U1M](https://www.st.com/resource/en/datasheet/esda25p35-1u1m.pdf) | 3 | | Schottky diode |
| D5,D6,D7 | D_Dual_CommonAnode_AKK_Parallel | [BAS70-06](https://diotec.com/request/datasheet/bas70.pdf) | 20 | 20 | Dual diode, common anode on pin 1 |
| F1,F2,F3 | 10A,20A | [3568](https://www.keyelco.com/userAssets/file/M65p42.pdf) | 3 | 3 | Fuse holder |
| F4,F5,F6,F7,F8 | 1A25,6A,10A | [01550900M](https://www.littelfuse.com/assetdocs/littelfuse-fuse-154-series-data-sheet?assetguid=a8a8a462-7295-481b-a91b-d770dabf005b) | 10 | 10 | Fuse holder |
| J1,J2,J3,J4,J5,J6,J10,J12,J13,J15,J16,J18,J19,J21,J22 | 1755736 | [1755736](http://www.phoenixcontact.com/de/produkte/1755736/pdf) | 15 | 7 | PCB header, nominal cross section: 2.5 mm?, color: green, nominal current: 12 A, rated voltage (III/2): 320 V, contact surface: Tin, type of contact: Male connector, Number of potentials: 2, Number of rows: 1, Number of positions per row: 2, number of connections: 2, product range: MSTBVA 2,5/..-G, pitch: 5.08 mm, mounting: Wave soldering, pin layout: Linear pinning, solder pin [P]: 3.9 mm, Stecksystem: CLASSIC COMBICON, Locking: without, type of packaging: packed in cardboard |
| J7 | Conn_02x10_Odd_Even | ~ | | | Generic connector, double row, 02x10, odd/even pin numbering scheme (row 1 odd numbers, row 2 even numbers), script generated (kicad-library-utils/schlib/autogen/connector/) |
| J8 | Conn_ST_STDC14 | [3220-14-0100-00](https://www.st.com/content/ccc/resource/technical/document/user_manual/group1/99/49/91/b6/b2/3a/46/e5/DM00526767/files/DM00526767.pdf/jcr:content/translations/en.DM00526767.pdf) | 10 | 10 | ST Debug Connector, standard ARM Cortex-M SWD and JTAG interface plus UART |
| J11 | USB_C_Receptacle_USB2.0_16P | [USB4105-GF-A](https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/5492/USB4105.pdf) | 25 | 25 | USB 2.0-only 16P Type-C Receptacle connector |
| J14,J17,J20 | Conn_02x06_Odd_Even | ~ | | | Generic connector, double row, 02x06, odd/even pin numbering scheme (row 1 odd numbers, row 2 even numbers), script generated (kicad-library-utils/schlib/autogen/connector/) |
| JP1->JP3 | Jumper_2_Open | ~ | | | Jumper, 2-pole, open |
| JP4 | Jumper_2_Bridged | ~ | | | Jumper, 2-pole, closed/bridged |
| PS1 | TMR_6-2410WI | [TMR_6-2410WI](https://tracopower.com/tmr6-datasheet/) | 3 | 3 | 6 Watt DC/DC converter, industrial, 2:1 input, regulated, 1600 VDC I/O-isolation, encapsulated, SIP-8 |
| PS2,PS3 | THN_30-2411WI | [THN_30-2411WI](https://tracopower.com/thn30-datasheet/) | 2 | 2 | 30 Watt DC/DC converter, industrial, 2:1 input, encpasulated, 1.0" x 1.0" metal package |
| PS4 | TEN_50-2412WI | [TEN_50-2412WI](https://tracopower.com/ten50wi-datasheet/) | 1 | 1 | 50 Watt DC/DC converter, industrial, 4:1 input, encapsulated, 2" x 1" metal package |
| PS5 | THN_30-2415WI | [THN_30-2415WI](https://tracopower.com/thn30-datasheet/) | 1 | 1 | 30 Watt DC/DC converter, industrial, 2:1 input, encpasulated, 1.0" x 1.0" metal package |
| Q1,Q2,Q3,Q4,Q5,Q6 | SUD50P06-15 | [SUD50P06-15-BE3](https://www.vishay.com/docs/68940/sud50p06.pdf) | 15 | 15 | -50A Id, -60V Vds, TrenchFET P-Channel Power MOSFET, 15mOhm Ron, 165nC Qg, -55 to 150 °C, TO-252-2 |
| Q7 | STL40DN3LLH5 | [STL40DN3LLH5](https://www.st.com/resource/en/datasheet/stl40dn3llh5.pdf) | 3 | | |
| Q8 | NPN | [2DC2412R-7](https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/6130/2DC2412R.pdf) | 20 | 20 | Bipolar transistor symbol for simulation only, substrate tied to the emitter |
| Q9,Q10,Q11 | NMOS | [2N7002-7-F](https://www.diodes.com/assets/Datasheets/ds11303.pdf) | 30 | 30 | N-MOSFET transistor, drain/source/gate |
| R1 | 82k | [CRCW080582K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R2 | 100 | [CRCW0805100RFKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R3,R16,R17,R18,R28,R32 | 10k | [CRCW080510K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 20 | 20 | Resistor |
| R4 | 63k4 | [CRCW080563K4FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R5 | 158k | [CRCW0805158KFKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R6 | 1960k | [CRCW08051M96FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R7,R10 | 37k4 | [CRCW080537K4FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R8,R11 | 78k7 | [CRCW080578K7FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R9,R12 | 1180k | [CRCW08051M18FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| R13,R14,R15 | 11k5 | [CRCW080511K5FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 15 | 15 | Resistor |
| R19 | 62m 0.5% | [L4CL1206LR062DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 5 | | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R20,R22 | 13m 0.5% | [L4CL1206LR013DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 10 | | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R21 | 20m 0.5% | [L4CL1206LR020DNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 2 | 2 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R23,R24 | 4m 0.5% | [PEWF2512D4L00Q9](https://s.resistor.today/shop/products/epdf/PEWF2512.pdf) | 2 | 2 | Resistor |
| R25 | 7m 1% | [L4CL1206LR007FNR](https://www.littelfuse.com/media?resourcetype=datasheets&itemid=705ee59d-6d7d-4586-a1c9-d4fd20ab4969&filename=littelfuse-resistor-l4cl-datasheet) | 2 | 2 | Current Sense Resistors - SMD 4T L4CL1206 0.5W 30ppm 13 mOhm +/-0.5% |
| R26 | 47k | [CRCW080547K0FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 5 | 5 | Resistor |
| R27,R31,R33->R35 | 1k | [CRCW08051K00FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 20 | 20 | Resistor |
| R29,R30 | 2k2 | [CRCW08052K20FKEA](https://www.vishay.com/docs/28773/crcwce3.pdf) | 10 | 10 | Resistor |
| TP1->TP10 | TestPoint | ~ | | | test point |
| U1 | LTC4417IGN | [LTC4417IGN#PBF](https://www.analog.com/media/en/technical-documentation/data-sheets/4417f.pdf) | 2 | 2 | Prioritized PowerPath Controller, Selects Highest Priority Supply from Three Inputs, –40°C to 85°C, SSOP |
| U2 | STM32G491KEU6 | [STM32G491KEU6](https://www.st.com/resource/en/datasheet/stm32g491ke.pdf) | 10 | | |
| U3,U7,U8 | INA236BIDDFR | [INA236BIDDFR](https://www.ti.com/lit/ds/symlink/ina236.pdf) | 3 | 3 | |
| U4,U5,U6 | INA236AIDDFR | [INA236AIDDFR](https://www.ti.com/lit/ds/symlink/ina236.pdf) | 3 | 3 | |
| U9 | TCPP02-M18 | [TCP02-M18](https://www.st.com/resource/en/data_brief/tcpp02-m18.pdf) | 3 | | USB Type-C Port Protection for Source application |
| U10 | MCP9808T-E/MS | [MCP9808T-E/MS](https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/MCP9808-0.5C-Maximum-Accuracy-Digital-Temperature-Sensor-Data-Sheet-DS20005095B.pdf) | 3 | 3 | |
Fourniture supplémentaire non présente sur les schémas
| Numéro de série fabricant | Quantité commandée | Quantité en stock | Description |
|------------------------------------------------------------------------------------------------------------------------------|--------------------|-------------------|---------------------------------------------------------|
| [1734401](https://www.phoenixcontact.com/fr-fr/produits/element-de-codage-cr-mstb-1734401) | 43 | | Onglet de détrompage pour embase Phoenix Contact |
| [1873058](https://www.phoenixcontact.com/fr-fr/produits/connecteur-de-plaque-conductrice-fkc-25-2-st-508-1873058) | 15 | | Connecteur mâle Phoenix Contact |
| [1734634](https://www.phoenixcontact.com/fr-fr/produits/element-de-codage-cp-mstb-1734634) | 40 | | Languette de détrompage pour connecteur Phoenix Contact |
| [045406.3NR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | 3 | | Nano fusible 6.3A |
| [0454010.MR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | 5 | | Nano fusible 10A |
| [045401.5MR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | | | Nano fusible 1.5A |
| [1734401](https://www.phoenixcontact.com/fr-fr/produits/element-de-codage-cr-mstb-1734401) | 43 | 43 | Onglet de détrompage pour embase Phoenix Contact |
| [1873058](https://www.phoenixcontact.com/fr-fr/produits/connecteur-de-plaque-conductrice-fkc-25-2-st-508-1873058) | 15 | 15 | Connecteur mâle Phoenix Contact |
| [1734634](https://www.phoenixcontact.com/fr-fr/produits/element-de-codage-cp-mstb-1734634) | 40 | 40 | Languette de détrompage pour connecteur Phoenix Contact |
| [045406.3NR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | 3 | 3 | Nano fusible 6.3A |
| [0454010.MR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | 5 | 5 | Nano fusible 10A |
| [045401.5MR](https://www.littelfuse.com/assetdocs/fuse-452-and-454-datasheet?assetguid=8c87aa93-80a7-4ea8-8749-a19ba03901c2) | 2 | 2 | Nano fusible 1.25A |

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# Pilotage PCB alimentation
# Pilotage PCB Alimentation
## Informations que le PCB peut faire remonter
- Etat du bouton d'arrêt d'urgence

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# Pilotage PCB Odométrie
## Informations que le PCB peut faire remonter
- Position du robot
- Vitesse instantanée du robot
- Valeurs des capteurs ToF
- Id du dernier point de passage atteint
## Ordres envoyables au PCB
- Modifier les coefficients des PIDs
- Liste de points de passages
- Arrêt/marche
## Protocole de communication
La communication se fait en liaison série UART
Les mots de communication restent à définir mais un format qui peut être envisagé fonctionnerait de la sorte :
### Récupération d'une donnée par la raspi :
- GET;POS
- GET;SPEED
- GET;DIST;N pour récupérer la distance mesurée par le ToF numéro N.
### Réponse du PCB à une demande de donnée
- SET;POS;xx;yy;tt pour renvoyer la position mesurée (x,y,angle) en mm et en radians.
- SET;SPEED;xx;yy;tt pour renvoyer la vitesse mesurée (x,y,angle) en mm².
- SET;DIST;N;xx pour renvoyer la distance mesurée par le ToF N en mm.
### Reset de la position par la raspi
- SET;POS;xx;yy;tt
### Envoi de la liste des points de passage par la raspi :
- SET;WAYPOINT;id;type;xx;yy;tt pour écraser le point de passage avec l'id renseigné. Type vaut 0 pour point de passage (en vitesse, peu précis), 1 pour un point d'arrivée (à l'arrêt, très précis)
### Réponse du PCB à un ordre (2 dernières commandes)
- OK;XXXX;YYYY;...; avec XXXX, YYYY, ... identiques à la commande SET pour valider une commande effectuée.
- KO;XXXX;YYYY;...; pour une commande échouée, ou pas de réponse
### Envoi de la position en direct au passage d'un waypoint par le PCB :
- SET;WAYPOINT;id avec l'id du waypoint atteint