1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
D D
C C
B B
A A
Title
Number RevisionSize
A3
Date: 2013-3-15 Sheet of
File: F:\Altium desiger \..\ .SchDoc Drawn By:
PB0 (XCK/T0)1
PB1 (T1)2
PB2 (AIN0/INT2)3
PB3 (AIN1/OC0)4
PB4 (SS)5
PB5 (MOSI)6
PB6 (MISO)7
PB7 (SCK)8
RESET9
PD0 (RXD)14
PD1 (TXD)15
PD2 (INT0)16
PD3 (INT1)17
PD4 (OC1B)18
PD5 (OC1A)19
PD6 (ICP)20
PD7 (OC2)21
XTAL212
XTAL113 GND 11
PC0 (SCL) 22
PC1 (SDA) 23
PC2 (TCK) 24
PC3 (TMS) 25
PC4 (TDO) 26
PC5 (TDI) 27
PC6 (TOSC1) 28
PC7 (TOSC2) 29
AREF 32
AVCC 30
GND 31
PA7 (ADC7) 33
PA6 (ADC6) 34
PA5 (ADC5) 35
PA4 (ADC4) 36
PA3 (ADC3) 37
PA2 (ADC2) 38
PA1 (ADC1) 39
PA0 (ADC0) 40
VCC 10
U1 ATmega16
1
2
Y1
XTAL
22pF
C8
22pF
C9XTAL2
XTAL1
XTAL1
XTAL2K1
10K
R2
RESET
10u
C7
RESET
1
2
LED1
1K
R1
MOSI13
RST5
SCK7
MISO9 10 10
8 8
6 6
4 4
VCC 2
P9
AVR ISP
MOSI
MISO
SCK
1 2
3 4
5 6
P6
VCC
1 2
3 4
5 6
P5
GND
1
2
3
4
5
6
7
8
P8
PA7
1
2
3
4
5
6
7
8
P7
PB7
1
2
3
4
5
6
7
8
P11
PD7
1
2
3
4
5
6
7
8
P12
PC7
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7
PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7
PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7
PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7
10uHL1
104
C6
104
C5
104
C4
MOSI
MISO
SCK
BOT3 TOP 1
TA
P
2
10kRPot
GND1
VCC2
EN3
RXD4
TXD5
STA6
NC7
P1
Header 7
5V
蓝牙模块陀螺仪
1
2
3
4
5
6
7
8
P2
Header 8
VCC
INT
DIR
GND
P3
Header 4H
5V
PWM2
DR2
PWM1
DR1
GND
P10
Header 6H
GND
+ C1
5V
IN1
2
OUT 3
GND
4
LM1
LM2940S-5.0
1
2
Power1
GND
+12V
+ C3
GND
GND
C2
0.1U
PD1
PD0
5V
5V
5V
5V
5V
5V
+12V
5V
5V
5V
5V
5V
GND
GND
GND
GND
GND
PA0
PA1
PA2
PA3
PA4
5V
GND PC0
PC1
5V
5V
VCC
INT
DIR
GND
P4
Header 4H
5VPD2 PD3
PB1 PB2
PD4
PD5
PB6
PB7
电源接口 电位器调节参数
测速模块接口
单片机最小系统
驱动模块接口
1
2
3
J1
PWR2.5
S1
SW-SPST
BOT3 TOP 1
TA
P
2
10kRPot
BOT3 TOP 1
TA
P
2
10kRPot
BOT3 TOP 1
TA
P
2
10kRPot
BOT3 TOP 1
TA
P
2
10kRPot
RESET
PIC101
PIC102
COC1 PIC201
PIC202
COC2
PIC301
PIC302
COC3
PIC401PIC402
COC4
PIC501
PIC502
COC5
PIC601
PIC602
COC6PIC701
PIC702
COC7
PIC801PIC802
COC8
PIC901 PIC902
COC9
PIJ101PIJ101APIJ101B
PIJ102PIJ102APIJ102B
PIJ103PIJ103APIJ103B
COJ1
PIK101
PIK102
COK1
PIL101 PIL102
COL1
PILED101
PILED102
COLED1
PILM101
PILM102
PILM103
PILM104
COLM1
PIP101
PIP102
PIP103
PIP104
PIP105
PIP106
PIP107
COP1
PIP201
PIP202
PIP203
PIP204
PIP205
PIP206
PIP207
PIP208
COP2
PIP301
PIP302
PIP303
PIP304
COP3
PIP401
PIP402
PIP403
PIP404
COP4
PIP501 PIP502
PIP503 PIP504
PIP505 PIP506
COP5
PIP601 PIP602
PIP603 PIP604
PIP605 PIP606
COP6
PIP701
PIP702
PIP703
PIP704
PIP705
PIP706
PIP707
PIP708
COP7
PIP801
PIP802
PIP803
PIP804
PIP805
PIP806
PIP807
PIP808
COP8
PIP901 PIP902
PIP903 PIP904
PIP905 PIP906
PIP907 PIP908
PIP909 PIP9010
COP9
PIP1001
PIP1002
PIP1003
PIP1004
PIP1005
PIP1006
COP10
PIP1101
PIP1102
PIP1103
PIP1104
PIP1105
PIP1106
PIP1107
PIP1108
COP11
PIP1201
PIP1202
PIP1203
PIP1204
PIP1205
PIP1206
PIP1207
PIP1208
COP12
PIPower101
PIPower102
COPower1
PIR101
PIR102
COR1
PIR201
PIR202
COR2
PIRpot101
PIRpot102
PIRpot103
CORpot1
PIRpot201
PIRpot202
PIRpot203
CORpot2
PIRpot301
PIRpot302
PIRpot303
CORpot3
PIRpot401
PIRpot402
PIRpot403
CORpot4
PIRpot501
PIRpot502
PIRpot503
CORpot5
PIS101 PIS102
COS1
PIU101
PIU102
PIU103
PIU104
PIU105
PIU106
PIU107
PIU108
PIU109
PIU1010
PIU1011
PIU1012
PIU1013
PIU1014
PIU1015
PIU1016
PIU1017
PIU1018
PIU1019
PIU1020
PIU1021
PIU1022
PIU1023
PIU1024
PIU1025
PIU1026
PIU1027
PIU1028
PIU1029
PIU1030
PIU1031
PIU1032
PIU1033
PIU1034
PIU1035
PIU1036
PIU1037
PIU1038
PIU1039
PIU1040
COU1
PIY101
PIY102
COY1
PIC301
PILM101
PIPower101
PIS102
PIC101
PIC201
PIC402
PIL101
PILM103
PIP102PIP201
PIP301 PIP401
PIP601 PIP602
PIP603 PIP604
PIP605 PIP606
PIP902
PIP1001
PIR102
PIR202
PIRpot103
PIRpot203
PIRpot303
PIRpot403
PIRpot503
PIU1010
PIC102
PIC202
PIC302
PIC401
PIC501 PIC601
PIC702
PIC801
PIC902
PIJ102PIJ102APIJ102B
PIK101
PILED102
PILM102 PILM104
PIP101
PIP202
PIP304 PIP404PIP501 PIP502
PIP503 PIP504
PIP505 PIP506
PIP904
PIP906
PIP908
PIP9010
PIP1006
PIPower102
PIRpot101
PIRpot201
PIRpot301
PIRpot401
PIRpot501
PIU1011
PIU1031
PIC502PIU1032 PIC602
PIL102
PIU1030
PIJ101PIJ101APIJ101B PIS101
PIJ103PIJ103APIJ103B
PILED101
PIR101
PIP103
PIP106
PIP107
PIP205
PIP206
PIP207
PIP208
PIP903
PIP801
PIRpot102
PIU1040
NLPA0
PIP802
PIRpot202
PIU1039
NLPA1
PIP803
PIRpot302
PIU1038
NLPA2
PIP804
PIRpot402
PIU1037
NLPA3
PIP805
PIRpot502
PIU1036
NLPA4
PIP806
PIU1035
NLPA5
PIP807
PIU1034
NLPA6
PIP808
PIU1033
NLPA7
PIP701
PIU101
NLPB0
PIP303
PIP702
PIU102
NLPB1 PIP403
PIP703
PIU103
NLPB2
PIP704
PIU104
NLPB3
PIP705
PIU105
NLPB4
PIP706PIP901
PIU106
NLMOSI NLPB5
PIP707
PIP909
PIP1004
PIU107
NLMISO
NLPB6
PIP708
PIP907
PIP1002
PIU108
NLPB7
NLSCK
PIP203
PIP1201PIU1022
NLPC0
PIP204
PIP1202PIU1023
NLPC1
PIP1203PIU1024 NLPC2
PIP1204PIU1025 NLPC3
PIP1205PIU1026 NLPC4
PIP1206PIU1027 NLPC5
PIP1207PIU1028 NLPC6
PIP1208PIU1029 NLPC7
PIP105
PIP1101PIU1014
NLPD0
PIP104
PIP1102PIU1015
NLPD1
PIP302
PIP1103PIU1016
NLPD2 PIP402
PIP1104PIU1017
NLPD3
PIP1005
PIP1105PIU1018
NLPD4
PIP1003
PIP1106PIU1019
NLPD5
PIP1107PIU1020 NLPD6
PIP1108PIU1021 NLPD7
PIC701
PIK102
PIP905
PIR201 PIU109
NLRESET
PIC802
PIU1012
PIY102
NLXTAL1
PIC901
PIU1013
PIY101NLXTAL2
Comment Description Designator Footprint LibRef Quantity
Capacitor C1 CD5 CAPACITOR POL 1
0.1U Capacitor C2 0805 Cap 1
Capacitor C3 100u CAPACITOR POL 1
Cap Capacitor C4, C5, C6, C8, C9 0805 Cap 5
Cap Capacitor C7 E-10U16 Cap 1
PWR2.5
Low Voltage Power
Supply Connector
J1 KLD-0202 PWR2.5 1
SW-PB Switch K1 KEY-6 SW-PB 1
Inductor Inductor L1 0805 Inductor 1
LED3
Typical BLUE SiC
LED
LED1 0805 LED3 1
LM2940S-5.0
1A Low-Dropout
Regulator
LM1 TS3B LM2940S-5.0 1
Header 7 Header, 7-Pin P1 HDR1X7 Header 7 1
Header 8 Header, 8-Pin P2 HDR1X8 Header 8 1
Header 4H
Header, 4-Pin, Right
Angle
P3, P4 HDR1X4H Header 4H 2
GND P5 HDR2X3 HEADER 3X2 1
VCC P6 HDR2X3 HEADER 3X2 1
PB7 8 Pin Header P7 SIP8 8 HEADER 1
PA7 8 Pin Header P8 SIP8 8 HEADER 1
AVR ISP isp下载 P9 BKLEV10 ISP 1
Header 6H
Header, 6-Pin, Right
Angle
P10 HDR1X6H Header 6H 1
PD7 8 Pin Header P11 SIP8 8 HEADER 1
PC7 8 Pin Header P12 SIP8 8 HEADER 1
Header 2 Header, 2-Pin Power1 OUT Header 2 1
Res2 Resistor R1, R2 0805 Res2 2
RPot Potentiometer
Rpot1, Rpot2,
Rpot3, Rpot4,
Rpot5
VR5 RPot 5
SW-SPST
Single-Pole, Single-
Throw Switch
S1 船型开关 SW-SPST 1
ATmega16
8-Bit AVR
Microcontroller with
16K Bytes of In-
System
Programmable
Flash Memory
U1 SOT129-1 ATmega16-16PI 1
XTAL Crystal Oscillator Y1 SIP-3 XTAL 1
Schematic Prints of ƽºâ³µ.SchDoc("Selected Document")
ƽºâ³µ.SchDoc
Components
C1
C1-1
C1-2
C2
C2-1
C2-2
C3
C3-1
C3-2
C4
C4-1
C4-2
C5
C5-1
C5-2
C6
C6-1
C6-2
C7
C7-1
C7-2
C8
C8-1
C8-2
C9
C9-1
C9-2
J1
J1-1
J1-1A
J1-1B
J1-2
J1-2A
J1-2B
J1-3
J1-3A
J1-3B
K1
K1-1
K1-2
L1
L1-1
L1-2
LED1
LED1-1
LED1-2
LM1
LM1-1
LM1-2
LM1-3
LM1-4
P1
P1-1
P1-2
P1-3
P1-4
P1-5
P1-6
P1-7
P2
P2-1
P2-2
P2-3
P2-4
P2-5
P2-6
P2-7
P2-8
P3
P3-1
P3-2
P3-3
P3-4
P4
P4-1
P4-2
P4-3
P4-4
P5
P5-1
P5-2
P5-3
P5-4
P5-5
P5-6
P6
P6-1
P6-2
P6-3
P6-4
P6-5
P6-6
P7
P7-1
P7-2
P7-3
P7-4
P7-5
P7-6
P7-7
P7-8
P8
P8-1
P8-2
P8-3
P8-4
P8-5
P8-6
P8-7
P8-8
P9
P9-1
P9-2
P9-3
P9-4
P9-5
P9-6
P9-7
P9-8
P9-9
P9-10
P10
P10-1
P10-2
P10-3
P10-4
P10-5
P10-6
P11
P11-1
P11-2
P11-3
P11-4
P11-5
P11-6
P11-7
P11-8
P12
P12-1
P12-2
P12-3
P12-4
P12-5
P12-6
P12-7
P12-8
Power1
Power1-1
Power1-2
R1
R1-1
R1-2
R2
R2-1
R2-2
Rpot1
Rpot1-1
Rpot1-2
Rpot1-3
Rpot2
Rpot2-1
Rpot2-2
Rpot2-3
Rpot3
Rpot3-1
Rpot3-2
Rpot3-3
Rpot4
Rpot4-1
Rpot4-2
Rpot4-3
Rpot5
Rpot5-1
Rpot5-2
Rpot5-3
S1
S1-1
S1-2
U1
U1-1
U1-2
U1-3
U1-4
U1-5
U1-6
U1-7
U1-8
U1-9
U1-10
U1-11
U1-12
U1-13
U1-14
U1-15
U1-16
U1-17
U1-18
U1-19
U1-20
U1-21
U1-22
U1-23
U1-24
U1-25
U1-26
U1-27
U1-28
U1-29
U1-30
U1-31
U1-32
U1-33
U1-34
U1-35
U1-36
U1-37
U1-38
U1-39
U1-40
Y1
Y1-1
Y1-2
Nets
+12V
Pins
C3-1
LM1-1
Power1-1
S1-2
5V
Pins
C1-1
C2-1
C4-2
L1-1
LM1-3
P1-2
P2-1
P3-1
P4-1
P6-1
P6-2
P6-3
P6-4
P6-5
P6-6
P9-2
P10-1
R1-2
R2-2
Rpot1-3
Rpot2-3
Rpot3-3
Rpot4-3
Rpot5-3
U1-10
GND
Pins
C1-2
C2-2
C3-2
C4-1
C5-1
C6-1
C7-2
C8-1
C9-2
J1-2
J1-2A
J1-2B
K1-1
LED1-2
LM1-2
LM1-4
P1-1
P2-2
P3-4
P4-4
P5-1
P5-2
P5-3
P5-4
P5-5
P5-6
P9-4
P9-6
P9-8
P9-10
P10-6
Power1-2
Rpot1-1
Rpot2-1
Rpot3-1
Rpot4-1
Rpot5-1
U1-11
U1-31
NetC5_2
Pins
C5-2
U1-32
NetC6_2
Pins
C6-2
L1-2
U1-30
NetJ1_1
Pins
J1-1
J1-1A
J1-1B
S1-1
NetJ1_3
Pins
J1-3
J1-3A
J1-3B
NetLED1_1
Pins
LED1-1
R1-1
NetP1_3
Pins
P1-3
NetP1_6
Pins
P1-6
NetP1_7
Pins
P1-7
NetP2_5
Pins
P2-5
NetP2_6
Pins
P2-6
NetP2_7
Pins
P2-7
NetP2_8
Pins
P2-8
NetP9_3
Pins
P9-3
PA0
Pins
P8-1
Rpot1-2
U1-40
NetLabels
PA0
PA0
PA0
PA1
Pins
P8-2
Rpot2-2
U1-39
NetLabels
PA1
PA1
PA1
PA2
Pins
P8-3
Rpot3-2
U1-38
NetLabels
PA2
PA2
PA2
PA3
Pins
P8-4
Rpot4-2
U1-37
NetLabels
PA3
PA3
PA3
PA4
Pins
P8-5
Rpot5-2
U1-36
NetLabels
PA4
PA4
PA4
PA5
Pins
P8-6
U1-35
NetLabels
PA5
PA5
PA6
Pins
P8-7
U1-34
NetLabels
PA6
PA6
PA7
Pins
P8-8
U1-33
NetLabels
PA7
PA7
PB0
Pins
P7-1
U1-1
NetLabels
PB0
PB0
PB1
Pins
P3-3
P7-2
U1-2
NetLabels
PB1
PB1
PB1
PB2
Pins
P4-3
P7-3
U1-3
NetLabels
PB2
PB2
PB2
PB3
Pins
P7-4
U1-4
NetLabels
PB3
PB3
PB4
Pins
P7-5
U1-5
NetLabels
PB4
PB4
MOSI
Pins
P7-6
P9-1
U1-6
NetLabels
MOSI
MOSI
MOSI
MOSI
MISO
Pins
P7-7
P9-9
P10-4
U1-7
NetLabels
MISO
MISO
MISO
MISO
MISO
PB7
Pins
P7-8
P9-7
P10-2
U1-8
NetLabels
PB7
PB7
PB7
PB7
PB7
PC0
Pins
P2-3
P12-1
U1-22
NetLabels
PC0
PC0
PC0
PC1
Pins
P2-4
P12-2
U1-23
NetLabels
PC1
PC1
PC1
PC2
Pins
P12-3
U1-24
NetLabels
PC2
PC2
PC3
Pins
P12-4
U1-25
NetLabels
PC3
PC3
PC4
Pins
P12-5
U1-26
NetLabels
PC4
PC4
PC5
Pins
P12-6
U1-27
NetLabels
PC5
PC5
PC6
Pins
P12-7
U1-28
NetLabels
PC6
PC6
PC7
Pins
P12-8
U1-29
NetLabels
PC7
PC7
PD0
Pins
P1-5
P11-1
U1-14
NetLabels
PD0
PD0
PD0
PD1
Pins
P1-4
P11-2
U1-15
NetLabels
PD1
PD1
PD1
PD2
Pins
P3-2
P11-3
U1-16
NetLabels
PD2
PD2
PD2
PD3
Pins
P4-2
P11-4
U1-17
NetLabels
PD3
PD3
PD3
PD4
Pins
P10-5
P11-5
U1-18
NetLabels
PD4
PD4
PD4
PD5
Pins
P10-3
P11-6
U1-19
NetLabels
PD5
PD5
PD5
PD6
Pins
P11-7
U1-20
NetLabels
PD6
PD6
PD7
Pins
P11-8
U1-21
NetLabels
PD7
PD7
RESET
Pins
C7-1
K1-2
P9-5
R2-1
U1-9
NetLabels
RESET
RESET
RESET
XTAL1
Pins
C8-2
U1-12
Y1-2
NetLabels
XTAL1
XTAL1
XTAL2
Pins
C9-1
U1-13
Y1-1
NetLabels
XTAL2
XTAL2
Bill of Materials