diff --git a/REUSE.toml b/REUSE.toml index 309f2a9..044aa7f 100644 --- a/REUSE.toml +++ b/REUSE.toml @@ -29,3 +29,8 @@ SPDX-License-Identifier = "CERN-OHL-S-2.0" [[annotations]] path = "hardware/LICENSE" SPDX-License-Identifier = "CERN-OHL-S-2.0" + +[[annotations]] +path = "hardware/boards/compact-carrier-board/**" +SPDX-FileCopyrightText = "2026 Jon Truland" +SPDX-License-Identifier = "CERN-OHL-S-2.0" diff --git a/hardware/boards/compact-carrier-board/README.md b/hardware/boards/compact-carrier-board/README.md new file mode 100644 index 0000000..d8f1f97 --- /dev/null +++ b/hardware/boards/compact-carrier-board/README.md @@ -0,0 +1,174 @@ +# compact-carrier-board + +Small distribution PCB that sits under the ESP32-C3-Zero where it mounts through +the desk's ESP slot, fanning its I2C/I2S/power pins out to the PCA9685, OLED, +MAX98357A amp, and servo power — instead of point-to-point wiring. + +- **Status:** in review +- **KiCad:** 10 +- **Interfaces:** ESP32-C3-Zero 2×9 socket, `J_PWR` (5V/GND + external USB + D+/D-), `J_SERVO`, `J_I2C_OLED`, `J_I2C_PCA`, `J_I2S` +- **Assumptions:** sized against the desk generated with the **PowerHD + HD-1370A** servo preset (`servos.json`) — the SG90 and FS0307 presets + produce different desk dimensions per the parametric design docs, and this + board's fit has **not** been verified against either of them. Re-check the + ESP slot dimensions in your own exported desk model before relying on this + outline if you're on a different preset. See `docs/hardware/interfaces.md` + for the canonical net map (5V/3.3V domains, GP0-GP4 assignments); this + board implements that map in copper. +- **Built:** in production at JLCPCB, not yet tested — **the batch on order + (`carrier-fab-v3_Y3`) has a known defect, fixed in this revision but not in + that physical batch: see "Known issue in the current JLCPCB batch" below** + +## Files + +- `compact-carrier-board.kicad_pcb` — KiCad 10 board source +- `compact-carrier-board.kicad_pro` — KiCad 10 project file (no `.kicad_sch` + — this board has no schematic, laid out directly from footprints) +- `carrier-board-render.png` — top-copper preview + +Gerbers, drill, BOM, and CPL are generated outputs, not source — regenerate +them from `compact-carrier-board.kicad_pcb` when ordering rather than +relying on a committed copy. `J_ESP1`/`J_ESP2` carry real `Value`/`LCSC` +fields and each footprint has a real origin at its own center, so +`kicad-cli pcb export pos` produces correct positions directly (verified: +`(13.00, -1.65)` / `(13.00, -16.89)`) — no manual patching. `J_PWR`, +`J_SERVO`, `J_I2C_OLED`, `J_I2C_PCA`, and `J_I2S` are flagged +`exclude_from_bom`/`exclude_from_pos_files` so they never appear in either +export. There's no `.kicad_sch`, so `kicad-cli` has no BOM-export +subcommand for this board (that's a schematic-only feature) — a BOM script +or fab-tool plugin reading the `.kicad_pcb`'s footprint properties directly +now gets correct `Value`/`LCSC` without hand-derivation. + +## Assembly: only the ESP header strips are populated parts + +`J_PWR`, `J_SERVO`, `J_I2C_OLED`, `J_I2C_PCA`, and `J_I2S` are bare +through-holes for direct wire connections, not connector footprints to +populate — excluded from BOM/CPL at the footprint level (see above). + +`J_ESP1`/`J_ESP2` are the one real part: **Kinghelm KH-2.54FH-1X9P-H3.5** +(LCSC/JLCPCB `C55778388`), a 2.54mm 1×9 THT female header. There's no 2×9 part +— the +ESP32-C3-Zero's socket needs **two** of these strips, one per row. The board +models this as two separate footprint objects, **`J_ESP1`** (row nearest +USB-C: 5V/GND/3V3/GPIO0-5) and **`J_ESP2`** (the other row), each a real +9-pad object with its own designator — not one 2×9 footprint with a +quantity hint in prose. JLCPCB's assembly tooling (and most BOM tooling) +determines quantity by counting designators, not by parsing Comment text, so +a generated BOM lists both on one row as `"J_ESP1,J_ESP2"` (identical part, +JLC's own convention for grouping identical components) — that reads as qty +2 unambiguously. + +A generated CPL has one row per designator, `J_ESP1` and `J_ESP2`, each at +its own row's real center — (13.00, 1.65) and (13.00, 16.89) in the board's +own coordinates — read directly by `kicad-cli pcb export pos` from each +footprint's own origin, no hand-derivation needed. + +## Why this shape + +Measured directly from an exported desk part (not estimated): the ESP mounting +slot is 25.0 × 18.5mm, and three of its four sides sit only 3.0–3.6mm from +full-height enclosure walls — too tight for any connector housing. Only the +front is open. That forced the layout: + +- **26 × 44mm**, 2-layer. +- Back 18.5mm: 2×9 female socket for the ESP32-C3-Zero (2.54mm pitch, + 15.24mm row spacing — Waveshare's documented spec for the Zero board family, + confirmed within 0.04mm of a direct caliper measurement). +- Front zone: `J_PWR` (now 4-pin — 5V/GND plus the external USB D+/D-, see + below), `J_SERVO` (5V direct to PCA9685 V+, bypassing the ESP's own 3.3V + regulator), `J_I2C_OLED`, `J_I2C_PCA` (separate connectors, bus shared via + on-board copper — no external splitter cable), `J_I2S` (own on-board 5V + feed for the amp). +- Everything routes fully on-board; nothing needs an off-board jumper. + +## Pinout (verified against physical board silkscreen) + +ESP32-C3-Zero, row nearest USB-C, top-to-bottom: +`5V, GND, 3V3, GPIO0(SDA), GPIO1(SCL), GPIO2(BCLK), GPIO3(LRCLK), GPIO4(DIN), GPIO5` + +The other row (`GPIO21,20,19,18,10,9,8,7,6`) is mechanical/GND support only +**except GP19 and GP18**, which are real signal pads — see USB below. + +## USB pass-through (external jack, not the C3-Zero's own USB-C) + +Per `docs/hardware/interfaces.md`: the robot's single external USB-C (Adafruit +5993) carries both power and the ESP32's native USB D+/D- lines, so flashing +and serial CDC work through the panel-mount jack once the desk is sealed — +the C3-Zero's own onboard USB-C is left unused. No ESD or series-resistor +circuitry is specified for this link; it's a direct connection. + +| `J_PWR` pin | Net | Goes to | +| --- | --- | --- | +| 1 | GND | common ground | +| 2 | D+ | ESP32 **GPIO19** (row B pad, native USB DP) | +| 3 | D− | ESP32 **GPIO18** (row B pad, native USB DM) | +| 4 | 5V | ESP32 5V rail, PCA9685 V+ (via `J_SERVO`), MAX98357A | + +D+/D- route dead straight from their row-B pads down to `J_PWR` — no jogging, +since `J_PWR`'s pin spacing was deliberately placed on the same 2.54mm grid +as the ESP footprint itself (offset from `J_I2C_OLED`/`J_I2C_PCA`'s grid by +half a pitch), so the two lines never cross OLED/PCA's pads on the way past. + +## Known issue in the current JLCPCB batch + +The order placed as `carrier-fab-v3_Y3` (replace-file upload, 2026-09-12) has +**7 undersized holes on `J_ESP2`**: pins 10,11,12,13,14,17,18 (the mechanical, +no-net pins of that row) were drilled at 0.6mm/1.0mm pad instead of +0.9mm/1.4mm like every other pin on the board. Confirmed directly against +JLC's own production drill file (`yg/carrier.drl`, KiCad 10.0.6, dated +2026-09-12) and their internal engineering-department drill data (`ok/drl`) +— both show the same 7-position split. `J_ESP2` is one physical 9-pin +Kinghelm header; every position has a real pin whether or not a net is +routed to it, so the undersized holes likely won't accept the header without +clipping or damaging those 7 pins. **This revision fixes the source; it does +not change boards already fabricating.** Check the physical boards against +this when they arrive. + +## Fab notes + +- 0 DRC errors, 0 unconnected nets, 8 library-path/silk-over-copper warnings + (KiCad 10.0.5, official `kicad/kicad` Docker image — reproducible + identically across repeated fresh zone refills). +- 4 reference designators (`J_ESP1`, `J_ESP2`, `J_I2C_OLED`, `J_I2C_PCA`) + were printing 0.2–0.6mm past the board's left edge — visually confirmed, + not just a DRC technicality. Each footprint's own text bounding box (not + an estimate) was used to shift the label right just enough to sit at a + 0.3mm margin from the edge; the render below reflects the fix. +- GND zone (B.Cu) outline is inset 0.5mm from the board edge, not 1mm as in + earlier revisions — the 1mm inset put pads near the top edge (e.g. `J_ESP1` + pin 2, GND) close enough to the zone's own boundary that a fresh zone + refill could fail to route a thermal-relief connection to them, especially + after the `J_ESP2` drill fix changed nearby pad geometry. Swept the inset + from 1.0mm down to 0.3mm in 8 steps against the drill-fixed board, each + with a fresh `kicad-cli pcb drc --refill-zones`: 1.0mm and 0.8mm both + reproducibly fail with 1 unconnected pad; every value from 0.6mm down to + 0.3mm passes with 0. 0.5mm sits in the middle of that verified-safe range + — well clear of the failure boundary and with real margin above JLCPCB's + ~0.2–0.3mm copper-to-edge floor. +- Tightest feature: 0.15mm copper (GND pour minimum thickness). Comfortably + inside JLCPCB's 0.127mm floor; sits exactly at PCBWave's 0.15mm floor (their + recommended safe minimum is 0.20mm) — check their DFM report before ordering + if using PCBWave. +- Connectors are plain 2.54mm through-hole pads (pin headers + jumpers), not + JST — real JST-PH footprint dimensions weren't verified at design time. +- 5V trace sized per IPC-2221 (2A, 1oz copper, 10°C rise → ≈0.78mm minimum). + Previously most of the net was left at KiCad's 0.6mm default instead of + this target — corrected to 1.0mm for 74.9mm of its 83.9mm total length. + The remaining 9mm sits at 0.6mm in two short, unavoidable pinch points + (4mm and 5mm) where the trace squeezes past `J_ESP2`'s mechanical pad + row (1.27-1.34mm pad-to-pad spacing doesn't clear a 1.0mm trace at + JLCPCB's 0.2mm clearance floor); verified via `kicad-cli pcb drc`, 0 + violations. Both pinch points sit downstream of a branch point that + already routes the highest-current load (`J_SERVO`) on its own + independent, unpinched trace, so worst-case current through either + pinch is bounded by the ESP32 module and `J_I2S` amp combined + (~1.0-1.1A by datasheet figures) against the pinch's own ~1.65A/10°C + capacity — real margin, not a bare pass. + Widening the traces required refilling the GND zone; the refill must + be done via KiCad itself (GUI Fill All Zones + save, or the + `pcbnew.ZONE_FILLER` Python API) and re-verified with `kicad-cli pcb + drc` run *without* `--refill-zones` — that flag only recomputes the + fill in-memory for the check, it does not persist to the file, so a + stale on-disk fill can pass DRC while still being wrong in the + Gerbers. This bit us once already in this revision's history. diff --git a/hardware/boards/compact-carrier-board/carrier-board-render.png b/hardware/boards/compact-carrier-board/carrier-board-render.png new file mode 100644 index 0000000..93042aa Binary files /dev/null and b/hardware/boards/compact-carrier-board/carrier-board-render.png differ diff --git a/hardware/boards/compact-carrier-board/compact-carrier-board.kicad_pcb b/hardware/boards/compact-carrier-board/compact-carrier-board.kicad_pcb new file mode 100644 index 0000000..4de453b --- /dev/null +++ b/hardware/boards/compact-carrier-board/compact-carrier-board.kicad_pcb @@ -0,0 +1,1539 @@ +(kicad_pcb + (version 20260206) + (generator "pcbnew") + (generator_version "10.0") + (general + (thickness 1.6) + (legacy_teardrops no) + ) + (paper "A4") + (layers + (0 "F.Cu" signal) + (2 "B.Cu" signal) + (9 "F.Adhes" user "F.Adhesive") + (11 "B.Adhes" user "B.Adhesive") + (13 "F.Paste" user) + (15 "B.Paste" user) + (5 "F.SilkS" user "F.Silkscreen") 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