LeoCore – Technical Specification
The LeoCore is a custom-designed control board developed for the
Leo Rover platform. It integrates power management, motor control, and
communication interfaces required to operate a four-wheel, differential-drive mobile robot.
Together with a Raspberry Pi computer, LeoCore manages all Rover functionalities,
including drive control, sensors, LED indicators, and expansion peripherals. Designed for reliability
and modularity, it provides robust electrical protection and easy integration for research, education,
and prototyping applications.
General
- Custom LeoCore board with STM32F401 microcontroller
- Works with Raspberry Pi (power + UART serial communication)
- Provides power and serial communication between LeoCore and Raspberry Pi
- Manages system readiness indicator (battery LED)
- Total current draw from all 5V outputs (J2–J5, J7, JP4, JP3) must not exceed 5A
- Operating temperature: -20°C to +50°C
Ports and Functionality
| Port |
Functionality |
| Power Input |
• DC 2.1/5.5 mm barrel jack
• Reverse polarity protection
• Overvoltage protection
• 10A fast-blow fuse
• Input voltage: 8–30 VDC
|
| Motor Outputs |
• 4× PWM H-bridge motor outputs (A, B, C, D)
• Peak current: ±2.8 A
• Overcurrent (OCP) and short-circuit protection (to power and GND)
• 5V encoder supply (max. 1A total @ 5V for all motors)
• 2× encoder inputs per motor, active low (short to GND)
|
| LED Output |
• Controlled LED output (e.g. battery/system status)
• Output: 5V / 10 mA |
| UART Port |
• UART communication interface
• Logic level: 3.3V |
| Debug Port |
• 5-pin interface used for firmware flashing via ST-Link/V2 (optional) |
| GPIO Port |
• General-purpose I/O connector
• Output: 5V / 5A |
| Fan Connector |
• Controllable fan power output
• Output: 5V / 1A |
