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Beaglebone AI Super Cape IO

• UART5: RS-485
  • Hull: Leg Control
  • Turret: Leddar
• UART8: TTL
  • Hull: Control Radio (Sbus)
  • Turret: Control Radio (Sbus)
• UART3: TTL
  • Hull: RFD900x
  • Turret: Xbee (This requires an additional DIO for CTS?)
• UART0: TTL
  • Hull: n/a
  • Turret: Slew Roboteq
• SPI3_0/I2C4: TTL
  • Hull: IMU
  • Turret: IMU
• SPI3_1: ADC
  • Hull: Tank Pressure, Rail Pressure
  • Turret: Tank Pressure, Throw Pressure, Retract Pressure
• SPI3_2: CAN
  • Hull: Battery Manager
  • Turret: Battery Manager
• D1: SSR
  • Hull: Enable Valve
  • Turret: Enable Valve
• D1: SSR
  • Hull: n/a
  • Turret: Throw Pressure
• D1: SSR
  • Hull: n/a
  • Turret: Throw Vent (6 amps, huge inductor)
• D1: SSR
  • Hull: n/a
  • Turret: Retract Pressure
• D1: SSR
  • Hull: n/a
  • Turret: Retract Vent (6 amps, huge inductor)
• D1: SSR
  • Hull: n/a
  • Turret: Propane Ignitor (3 amps)
• D1: SSR
  • Hull: n/a
  • Turret: Propane Valve
• D1: SSR
  • Hull: n/a
  • Turret: Aux 1
• D1: SSR
  • Hull: n/a
  • Turret: Aux 2