1 2 3 4

A A

COD1
D1 VCC
VCC
VCC_IN PID101 PID102

SS54 PID20 PIC902

COC9
C9
PIC10 2
COC10
C10
PIC901 100uF PIC10 1 100uF
TVS 管反
COD2
D2
向关断电
压需在工
作电压以
B 上 PID201 GND
B

GND

COU5
U5 VCC_3V3
VCC_5V 1 5
VCC_5V PIU501 VIN VOUT PIU505
PIC1 02 PIC1202
COC11
C11 COC12
C12
2 PIC1 01 0.1uF PIC1201 10uF
GND PIU502 GND
GND
COC13
C13
3 4
PIC1401 PIR10 2 VCC_5V PIU503 ON/OFF BYPASS PIU504
PIC1302 PIC1301 GND
COC14
C14 COR10
R10 COC15
C15 COL1
L1 10nF
PIC1402 100pF 10K PIC1502 PIC1501 PIL101 PIL102
LP2992 3V3
PIR10 1 6.8uH
0.1uF PIC1602 PIC1702
COC16
C16 COC17
C17
C COU6
U6 PIC1601 0.1uF PIC1701 10uF C
PIR1 02 1 6
COR11
R11 PIU601 BS
2
SW PIU606PID302 PID301
5
1.8K PIU602
GND IN PIU605 COC18
C18
PIR1 01 3
PIU603 FB
4 D3
COD3
EN PIU604 PIC1802 PIC1801

ME3116 10uF
GND VCC
COR12
R12
PIR1202 PIR1201
PID402 PID401

1M
GND COD4
D4 GND

D Title D

Size Number Revision

A4
Date: 9/08/2022 Sheet of
File: D:\canhtayrobot\..\Power.SchDoc Drawn By:
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 1 2 3 4

A A

P1 P2
CAN_H CAN_H
2 2
CAN_L CAN_L
1 1
SH1.0-2P SH1.0-2P
B B
GND

SH2
SH1
SWDIO
3
SWCLK
2
1
P3
GND

C C

K1
BUTTON_UP
GND
3x4
VCC_3V3
U4
CAN_TX 1 8 K2
D NC
2 7 CAN_H BUTTON_DOWN
GND CANH GND
3 6 CAN_L 3x4
VCC CANL
CAN_RX 4 5
R NC

SN65HVD232DR
GND
R9 120R
CAN_H CAN_L
J1

D Title D

Size Number Revision

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Date: 9/08/2022 Sheet of
File: D:\canhtayrobot\..\Port.SchDoc Drawn By:
1 2 3 4
 1 2 3 4

A A

U3A
POWER_U 10 18 SIGNAL_ENA
PA0-WKUP PB0
PA1 11 19 SIGNAL_ALERT
PA1 PB1
IN_BM 12 20 BUTTON_DOWN
PA2 PB2
IN_BP 13 39 SPI1_SCK
PA3 PB3
IN_AM 14 40 SPI1_MISO
PA4 PB4
IN_AP 15 41 SPI1_MOSI
PA5 PB5
SIGNAL_PUL 16 42 UART1_TX VCC_3V3
PA6 PB6
B SIGNAL_DIR 17 43 UART1_RX B
PA7 PB7
U3B
OLED_DC 29 45 CAN_RX 1
PA8 PB8 VBAT
OLED_RES 30 46 CAN_TX
PA9 PB9
PA10 31 21 IN_PWM_B 24 23
PA10 PB10 VDD_1 VSS_1
USB_DM 32 22 IN_PWM_A 36 35
PA11 PB11 VDD_2 VSS_2
USB_DP 33 25 BUTTON_UP 48 47
PA12 PB12 VDD_3 VSS_3
SWDIO 34 26 SPI2_SCK
PA13 PB13
SWCLK 37 27 SPI2_MISO 9 8
PA14 PB14 VDDA VSSA
MT6816_CS 38 28 SPI2_MOSI
PA15 PB15
STM32F103CBT6
R7 10K
CAN_SILENT 2 44 GND
PC13-TAMPER-RTC BOOT0 GND
PC14 3
PC14-OSC32_IN R8 10K
PC15 4 7
PC15-OSC32_OUT NRST VCC_3V3
3

5
2 Y1 PD0-OSC_IN
6 C5
12MHz PD1-OSC_OUT
0.1uF
1

STM32F103CBT6
GND
C C
GND

VCC_3V3

C6 C7 C8
0.1uF 0.1uF 0.1uF

GND

D Title D

Size Number Revision

A4
Date: 9/08/2022 Sheet of
File: D:\canhtayrobot\..\MCU.SchDoc Drawn By:
1 2 3 4
 1 2 3 4

A A

OLED
C19 C28
VCC_3V3 GND VCC_3V3 GND
10uF 10uF
C20
GND
0.1uF 13
NC2
U7 12
VSS
MT6816_CS 1 8 11 SPI2_MOSI
CSN GND GND SDA
2 7 SPI1_SCK 10 SPI2_SCK
HVPP Z/W SCL
3 6 SPI1_MISO 9 OLED_DC
OUT B/V DC
4 5 SPI1_MOSI 8 OLED_RES
VCC_3V3 VDD A/U RES
7
CS R23
MT6816 6
IREF
B 5 560K VCC_3V3 B
IM1
4
VDD
3
VCCOMH
2 VPP_9V
VPP
POWER_U 1 C30
NC1
R13 10K R14 1K 10uF
VCC GND OLED-12880

C21 GND GND

0.1uF VCC_5V
L2
VPP_9V
2.2uH
D6
U11
1 5
SW VIN
C C32 R26 C33 2 C
GND
0.1uF 93.1K 220pF
3 4
FB EN
R27
13.3K TPS61040DBV

此升压电路可加可不加，作用是增加屏幕亮度。如
GND 不用的话直接将 VPP_9V和VCC_5V短接即可。

D Title D

Size Number Revision

A4
Date: 9/08/2022 Sheet of
File: D:\canhtayrobot\..\Interface.SchDoc Drawn By:
1 2 3 4
 1 2 3 4

A A

B B

GND
GND
COU1
U1
NLIN0PWM0A
IN_PWM_A COR1
R1 COR2
R2 NLVREF0A
VREF_A 9 NLOUT0A0
OUT_A-
PIR101 PIR102 PIR201 PIR202 EP PIU109

1K 1K 1 8
PIC102 PIC202 PIU101
GND OUT2 PIU108
COR3
R3
COC1
C1 COC2
C2 NLIN0AM
IN_AM 2 7
PIU102
IN2 LSS PIU107 PIR301 PIR302
GND
PIC101 0.1uF PIC201 0.1uF NLIN0AP
IN_AP 3
PIU103 IN1 OUT1
6
PIU106 0.1R
VREF_A 4
PIU104 VREF
5
GND VCC PIU105
NLOUT0A0
OUT_A+
TB67H450FNG
VCC

COU2 GND
U2
COR4
R4 COR5
R5 GND
NLIN0PWM0B
IN_PWM_B PIR401 PIR402 PIR501 PIR502
NLVREF0B
VREF_B
EP
9
PIU209
NLOUT0B0
OUT_B-
1 8
1K PIC302 1K PIC402 PIU201 GND OUT2 PIU208 COR6
R6
COC3
C3 COC4
C4
NLIN0BM
IN_BM 2 7
PIU202 IN2 LSS PIU207 PIR601 PIR602 GND
PIC301 0.1uF PIC401 0.1uF NLIN0BP
IN_BP 3
PIU203 IN1
6
0.1R
C OUT1 PIU206 C
VREF_B 4 5
GND PIU204 VREF VCC PIU205

NLOUT0B0
OUT_B+
TB67H450FNG
VCC

D Title D

Size Number Revision

A4
Date: 9/08/2022 Sheet of
File: D:\canhtayrobot\..\Drive.SchDoc Drawn By:
1 2 3 4
 COC8
COL1 COU4COP1
COR8

COU5
COD3
COU6
COR11 COC15
P A L 1 0 1 COC17 COC16
PAD301
PAU404
P A L 1 0 COC13
2 PAU503 PAU502 PAU501 PAP10SH2
PAU405
P A P 1 0 S H 1
COR13
COC21
COR14 COU3 COC18 PAU403
COC11 COC12
PAU406

COR10PAU601 COC19
COC5
PAR1101 PAD302
PAU402
PAC1501 PAC1702 PAC1602 PAC1301
PAC1502 PAC1701 PAC1601 PAC1302 PAU504COY1
PAU407
PAU505
COR9 COK2 COK1
COC14
PAU602 COR12
COR2 PAU606
COC20
PAU605
PAR1302
PAR1102 PAC2102 PAR1401 PAU401 PAC1801 PAU408
PAC1102 PAC1202
PAC1101 PAC1201
COU7
P A P 1 0 2 P A P 1 0 1 COR4 COR5
COC1
COC2
COD4
COR1COD2 COU1
PAU603 PAU604
PAR1301
P A U 3 0 1
PAR1001 PAC2101 PAR1402
PAR1002
2 P A U 3 0 1 P A U 3 0 1 P A U 3 0 9
PAR802PAC1802PAR801 PAC501 PAC502
PAC1901 PAC1902
P A U 3 0
P 8 APYA U
1 30017P A U 3P0A6 P
Y A1U 3
0 025 P A U 3 0 4 P A U 3
PAC801 PAR702 PAR901
P A Y 1 0 0
3 P A U 3 0 2 P A U 3 0 1 COC3
PAK201 COC4
PAK101

COC7
PAR101 PAR102 PAR201 PAR202
PAC1401 PAC1402 PAR1202 PAR1201 PAU3013 PAC2001 PAC2002
PAC101 PAC102 PAC201 PAC202 PAU3014
PAD401 PAD402
PAU3015 PAU704
PAC802 PAU3048
PAR701 PAR902
PAU3047
PAU3046
PAU705
PAR401 PAR402 PAR501 PAR502
PAC301 PAC302 PAC401 PAC402 COU2
COP3
PAU101 PAU102 PAU103 PAU104 PAU3016
PAU3017
PAU703
PAU3045
PAU3044
PAU706 COP2PAU20PAK202 1 PAU202 PAU203PAK102
PAU204
PAD201 PAU3018
PAU3019
PAU3020 PAU702
PAU3043
PAU3042
PAU3041
PAU707 PAP30SH2
PAU109COC6 COR3 COR6 PAU209 PAU3021
PAU3022PAC701
PAU3023
PAU3024PAC702
PAU701 PAU708
PAU3040
PAU3039
PAU3038
PAP303
PAU3037 PAP302

COC10
PAU108 PAU107 PAU106 PAU105
COC9 P A U 3R0 2 5
3 P0A U 3
1 0 2 6 PCOD1
PAC602
A U 3
PAC601
0 2 7 P A U 3 0 2 8 P A U 3 0 2 9 P A UA3 0 R P3A U 3 0 21 P ACOJ1
0 2 PAU30 3PAU30 4 PAU30 5 PAU30 6 PAR601 PAU208 PAU207 PAU206 PAU205
U3PAR602 PAP301

PAD202 PAC1002 PAC902 PAC901 PAJ101 PAJ102 PAP201 PAP202 PAP30SH1

PAC1001 PAD102 PAD101 PAP20SH1 PAP20SH2

Board Stack Report