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STD Jetson Orin Nano Expansion Board

License: GPL 3.0

Mode: Editors' pick

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Update time: 2024-02-03 09:51:51
Creation time: 2023-11-24 06:48:56
Description
## Introduction Because of power voltage requrieemnt is changed from 5V to 9v ~ 20v for [Jetson Orin Nano dev kit](https://www.amazon.com/-/ko/dp/B0BZJTQ5YP/ref=sr_1_1?crid=1R48KEKOH9617&keywords=jetson+orin+nano+dev&qid=1706826069&sprefix=jetson+orin+nano+d,aps,352&sr=8-1). One more 18650 battey need to be added to original PCB design. Below is orignal expansion board for Jetbot. ![JetBot-AI-Kit-Mother-Board.jpg](//image.easyeda.com/pullimage/XgWbSGyof6fN654vFU5GUCsuDGT4DRfRUPHLkRy2.jpeg) It come with Jetbot kit what you can buy from [Amazon link](https://www.amazon.com/waveshare-JetBot-Kit-Jetson-Nano/dp/B082FNZ96R) ![71QfJ3og89L._AC_SX679_.jpg](//image.easyeda.com/pullimage/tDn8eCEezEA4aXvPg2pv1vx48WweBSsPwbu9ueuX.jpeg) Below is Jetbot with this PCB board. Jetson Orin can be used with origianl Jetbot body without any big difference because BMS board can be hided inside of robot chassis. ![20240202_123812.jpg](//image.easyeda.com/pullimage/Kci0BSyfSRd34mRPbmJRrFjyqJDa5VGXGI1rnYte.jpeg) ## BMS part Every parts are same as original expansion board except BMS part is moved as external addon type. ![Screenshot from 2024-02-02 06-46-18.png](//image.easyeda.com/pullimage/PHHcWD5qJr3NBUOsGhV2iQ6YWEOE3TlKhAfJ8KlH.png) You need to order BMS PCB seperately from this project because it was made from other person. Please order it from [this link](https://oshwlab.com/Ratti3/ablic-4s-18650-li-ion-battery-protection-system). ## The line connection bewteen each component ![Screenshot from 2024-02-02 14-02-52.png](//image.easyeda.com/pullimage/GkqmOza3N0V21ZV9pGCL1cADI9rrj0FZZoiSOU8N.png) ## Parts that need to be ordered from outside of JLCPCB However, you still need to do soldering few parts even if you order the PCB with PCB assembly service from JLCPCB. ![20240202_132500.jpg](//image.easyeda.com/pullimage/VUzxRUaR2sl2B4biVTOYiWzryB9qxFxZnY3gmYTW.jpeg) 1. [4S 18650 battery holder](https://www.aliexpress.com/item/1005004507903283.html?src=google&src=google&albch=shopping&acnt=631-313-3945&slnk=&plac=&mtctp=&albbt=Google_7_shopping&albagn=888888&isSmbActive=false&isSmbAutoCall=false&needSmbHouyi=false&albcp=19224844013&albag=&trgt=&crea=ko1005004507903283&netw=x&device=c&albpg=&albpd=ko1005004507903283&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVltArm2qoOzAEaDpXzc3pCJQvlBOQvtI5fZSC_9R07LAzYuh5hlsTEaAsPDEALw_wcB&gclsrc=aw.ds&aff_fcid=312a4b7f6d194736ada296a857146350-1706823493946-07638-UneMJZVf&aff_fsk=UneMJZVf&aff_platform=aaf&sk=UneMJZVf&aff_trace_key=312a4b7f6d194736ada296a857146350-1706823493946-07638-UneMJZVf&terminal_id=a667e40f8f674f64930bdfd1ea15cd7d&afSmartRedirect=y) x 1pcs ![Screenshot from 2024-02-02 06-43-02.png](//image.easyeda.com/pullimage/rX5P4ZP7HPY1iXDLwAtgZubCuCHqCridNrhG8MGP.png) 2. [PCA9685](https://www.digikey.com/en/products/detail/nxp-usa-inc/PCA9685PW-112/2034324) x 1pcs ![Screenshot from 2024-02-02 06-50-42.png](//image.easyeda.com/pullimage/xCwJkRcT2LUycDL3YWZWqsCxwbes6JsTXDlWwpxt.png) 3. [5.5 x 2.1/2.5 mm Female DC Power Jack](https://www.aliexpress.com/item/1005003536388871.html?src=google&src=google&albch=shopping&acnt=631-313-3945&slnk=&plac=&mtctp=&albbt=Google_7_shopping&albagn=888888&isSmbActive=false&isSmbAutoCall=false&needSmbHouyi=false&albcp=19224801818&albag=&trgt=&crea=ko1005003536388871&netw=x&device=c&albpg=&albpd=ko1005003536388871&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVkK5hOJULQzi-97NDUFS58Ro09EX_dPj4iI8sH7g8JklQYog7SXb5waAhy3EALw_wcB&gclsrc=aw.ds&aff_fcid=599a2b7105604e4d952e7e7450019905-1706824179885-03555-UneMJZVf&aff_fsk=UneMJZVf&aff_platform=aaf&sk=UneMJZVf&aff_trace_key=599a2b7105604e4d952e7e7450019905-1706824179885-03555-UneMJZVf&terminal_id=a667e40f8f674f64930bdfd1ea15cd7d&afSmartRedirect=y) x 1pcs ![Screenshot from 2024-02-02 06-51-36.png](//image.easyeda.com/pullimage/SBuu2sGENHKUGlZLKjeYf5oVqX7X5vPzukurYXki.png) 4. [SS-12D06L5](https://www.google.com/url?sa=i&url=https://jlcpcb.com/partdetail/XkbConnectivity-SS12D06L5/C319015&psig=AOvVaw09EKB_ndmO1_bmFbnogaLW&ust=1706910761562000&source=images&cd=vfe&opi=89978449&ved=0CBUQjhxqFwoTCJipm7mQi4QDFQAAAAAdAAAAABAJ) x 1pcs ![20230218_XKB-Connectivity-SS-12D06L5_C319015_front.jpg](//image.easyeda.com/pullimage/copZyGXEfTt6es37R0fFxKHWvrI2aUHJnNlIzwDK.jpeg) 5. [5.5x2.5 DC Power Male Plug Welding Connector 90 Degree Right Angle](https://www.aliexpress.com/item/1005005429978517.html?spm=a2g0o.productlist.main.55.3b835c4en03FGs&algo_pvid=59e90702-1897-4190-a197-c2a32a372edd&aem_p4p_detail=202402011355461642481207454300000928477&algo_exp_id=59e90702-1897-4190-a197-c2a32a372edd-27&pdp_npi=4@dis!KRW!2223!1715!!!1.62!1.25!@2101fb0b17068245459696330e1129!12000033039140742!sea!KR!715028434!&curPageLogUid=jm26r3wdeksU&utparam-url=scene:search|query_from:&search_p4p_id=202402011355461642481207454300000928477_28) x 1pcs ![Screenshot from 2024-02-02 06-57-33.png](//image.easyeda.com/pullimage/9qaCUX6cIQ43qZ5anyn1xfMOtdULLiv77nzTPyQ6.png) 6. [2Pin JST XH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 10pcs, [3Pin JST PH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 5pcs, [2Pin JST PH Cable](https://www.aliexpress.com/item/1005006125634331.html?spm=a2g0o.productlist.main.17.50a67011vYVLms&algo_pvid=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634&aem_p4p_detail=202402011402283469613926218420000934736&algo_exp_id=80cb74f1-0ae5-438d-9d2b-f5afd4dfa634-8&pdp_npi=4@dis!KRW!956!956!!!5.01!5.01!@2101efac17068249476676841e16ee!12000035868167893!sea!KR!715028434!&curPageLogUid=WenIfFwJvnmr&utparam-url=scene:search|query_from:&search_p4p_id=202402011402283469613926218420000934736_9) x 10pcs ![Screenshot from 2024-02-02 07-15-54.png](//image.easyeda.com/pullimage/a63nYMGIrhDYPG1Fr4LoO1GJsYAnVrjjdeiUMJKh.png) 7. [DC 0-30V Voltmeter](https://www.aliexpress.com/item/1005004070918685.html?spm=a2g0o.order_list.order_list_main.34.5eb5585aMtR2G2) x 1pcs ![Screenshot from 2024-02-02 07-09-30.png](//image.easyeda.com/pullimage/KIKjBkin6A95bhaQFxKtIi8f0t0G9MbsLnplYj3R.png) 8. [0.91 Inch 128x32 IIC I2C White/Blue OLED LCD Display](https://www.aliexpress.com/item/1005004723891153.html?spm=a2g0o.order_list.order_list_main.181.5eb5585aMtR2G2) x 1pcs ![Screenshot from 2024-02-02 07-13-36.png](//image.easyeda.com/pullimage/NHMJTm1jMtybp3WRZhwolND0JKFP4kIvNCik3pDF.png) 8. [2.54mm pin header(2x3PIN dual Line)](https://www.mouser.kr/ProductDetail/Wurth-Elektronik/62003221121?qs=7D1LtPJG0i0DsC53o08D7w==&gad_source=1&gclid=Cj0KCQiAn-2tBhDVARIsAGmStVlU4DeCgnJLs9BuansY4H2T_eMFW45s9KwPygFNzGzfvuhoT0PzhZIaAsJoEALw_wcB&_gl=1*1mv8blm*_ga*MzgyMjQ3NC4xNzA2ODQ4ODEy*_ga_15W4STQT4T*MTcwNjg0ODgxMi4xLjEuMTcwNjg0ODgxMi42MC4wLjA.*_ga_1KQLCYKRX3*MTcwNjg0ODgxMi4xLjEuMTcwNjg0ODgxMi4wLjAuMA..) ![images (7).jpeg](//image.easyeda.com/pullimage/IOt5f2p1Vmez6POSvOmeCpxUEqCIhS1R0dqBpdSW.jpeg) Every item are really easy to find and order because they are used commonly in many project. ## PCB assembly demo video [![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/M8zb8pGe-KQ/0.jpg)](https://www.youtube.com/watch?v=M8zb8pGe-KQ) ## Software You can use [the original jetbot](https://github.com/NVIDIA-AI-IOT/jetbot) code to run robot using this PCB. I also upload my own version code on [my Google Drive](https://drive.google.com/drive/folders/1JwqmzHr-FBgx_x3YtNwsc7I_E2JUowfr?usp=drive_link). ________________________________________________________________________________________

### 1. i2C bus However, I could not use the i2c bus 1 of Jetson Orin Nano like a original Jetbot. ![Screenshot from 2024-02-03 18-39-10.png](//image.easyeda.com/pullimage/WI1gby0VqRarbMbMlJiIyxiASmKf4e4bu9gmEgrX.png) Therefore, you should change the i2c bus below file manually from 1 to 7 **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/sparkfun_qwiic_i2c-0.9.11-py3.8.egg/qwiic_i2c/linux_i2c.py** ![Screenshot from 2024-02-03 18-33-57.png](//image.easyeda.com/pullimage/XDZTfFtq5TnipaxXq665QZbGJfX2Q9r2JCgazoiF.png) ________________________________________________________________________________________

### 2. i2C address Additioanlly, I also check that Jetson Orin Nano allocathe the i2c address for PCA9685 as 112 instead of 96 which is orignal address of Jetbot. ![Screenshot from 2024-02-03 18-26-30.png](//image.easyeda.com/pullimage/iDLvI2bvIiz6nyICrvF5VIYSKTieUOhBWXg9v23r.png) The 60 is for OLED display. I am not sure what is 64 for. Just ignore it now. Therefore, you also need to change the i2c address of below files manually from 96 to 112. **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/jetbot-0.4.3-py3.8.egg/jetbot/robot.py** ![Screenshot from 2024-02-03 18-32-39.png](//image.easyeda.com/pullimage/XtwFt9CEoHhYfCEfeU7ugrrI9kBhunZV5K0AL2Br.png) **- sudo nano /home/[your user name]/.local/lib/python3.8/site-packages/jetbot-0.4.3-py3.8.egg/jetbot/motor.py** ![Screenshot from 2024-02-03 18-32-16.png](//image.easyeda.com/pullimage/QVcGiBXdSjAJcyLT49pKWtwgZbg185ujahfXQmcz.png) ________________________________________________________________________________________

Please make sure that you can control the robot motors using [basic_motion.ipynb](https://drive.google.com/file/d/1NXmCT2VPpTRmD4w_gLLfoO-oRnhpXSrw/view?usp=drive_link) file after above modification.
Design Drawing
schematic diagram
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PCB
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ID Name Designator Footprint Quantity
1 PH-2AK BAT1,BAT2,BAT3,BAT4,MOR1,MOR2 CONN-TH_PH-2A 6
2 4S 18650 Battery Holder BATT1 18650-PC8 1
3 XH-2A BMS+1,BMS_P,JETSON_POWER CONN-TH_XH-2A 3
4 10u C1 C0603 1
5 0.1u C2 C0603 1
6 10u C3 CASE-A_3216 1
7 1u C4 C0603 1
8 PH-3A_C722771 CN1 CONN-TH_PH-3A 1
9 0114_PH254-203DF118A00V JP1 2X03 1
10 CHARGE LED1 LED_0603 1
11 LCD/OLED P1 HDR-4X1/2.54 1
12 10K R1,R2,R3,R4,R5,R6,R8,R9,R16 0603 9
13 470R R7 0603 1
14 220R R10,R11,R12,R13,R14,R15 0603 6
15 PCA9685PW,112 U1 TSSOP-28_L9.7-W4.4-P0.65-LS6.4-BL 1 https://lcsc.com/eda_search?q=C2688894&%26type=1&ref=editor
16 TB6612FNG(O,C,8,EL) U2 SSOP-24_L8.4-W5.8-P0.65-LS7.8-BL 1
17 POWER-JACK U3 DC-IN-TH_POWER-JACK 1
18 SS-12D06 U4 SW-TH_3P-P4.70_L11.1-W12.7 1

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