This document introduces the hardware configuration of the OpenCR board. It is a project that shares robotics technology through open source ROS between communities, academia and companies. The OpenCR board is designed as an embedded board for ROS 2.0. It uses an STM32F746 microcontroller and sensors like an accelerometer and gyroscope. The document provides details on the board's specifications, including its communication interfaces, LEDs, buttons, battery charging and block diagram. It also mentions that OpenCR can be used for the TurtleBot3 robot.

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OpenCR 하드웨어(회로) 구성 소개
http://cafe.naver.com/openrt
BlueSky7
V1.0

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OpenCR Summary
 개요
 ROS 오픈 소스를 활용한 커뮤니티와 학계, 기업이 함께 기술을 공유하는 프로젝트.
 OROCA, 로보티즈, OSRF 협업.
 ROS 2.0 Embedded Board 를 지향하는 하드웨어, F/W 개발.
 참여 인력
 OROCA 참여자: 표윤석, iMachine, BlueSky7, Baram, 박차장
 개발 자료 공개 주소
 https://github.com/ROBOTIS-GIT/OpenCR

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OpenCR Specification 1/2
 1. Microcontroller
 STM32F746GT6
 32-bit ARM Cortex® -M7 with FPU (216 MHz, 462 DMIPS)
 1-Mbyte Flash memory, 320-Kbyte RAM, L1 cache
 2. Sensors
 Accelerometer / Gyro (caution: temperature characteristics): MPU6250
 3. Write and debug pins
 ARM Cortex 10pin JTAG/SWD connector (50mil)
 4. Extension pins (I2C, SPI, UART, GPIO, etc.)
 32 Pins (L 14, R 18, female pins, 100mil)
 Arduino Uno Revision 3 connectivity
 *OLLO sensor 5pin
 Extension connector (other I/Os, 50mil)

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OpenCR Specification 2/2
 5. LEDs and buttons
 LD2 (red/green) : USB communication
 STM32 boot-select pin using a 2x1 100mil header pair and a jumper (for USB Device
Firmware Upgrade (DFU))
 User LED x 4 : LD3 (red), LD4 (green), LD5 (blue)
 User button x 2
 6. Communication circuits
 USB (Micro-B USB connector / USB 2.0 full speed / Host&Peripehral / OTG)
 TTL (JST 3pin / Dynamixel), RS485 (JST 4pin / Dynamixel)
 UART, CAN
 7. Powers
 External input source
: 5 V (USB VBUS), 7-24 V (Battery or SMPS)
: Default battery: LI-PO 11.1V 1,800mAh 19.98Wh
 External output source
: 12V@1A, 5V@4A, 3.3V@800mA
 Power LED, Reset button, Power on/off switch x 1
 8. Battery charge circuits
 Current control circuit failure.

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OpenCR block diagram
 PCB Size: 75mm x 1.5mm

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OpenCR Block diagram

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OpenCR TurtleBot3

8. THANK YOU FOR YOUR
ATTENTION.
YOUR SUCCESS IS OROCA
http://cafe.naver.com/openrt