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docs: add ReSpeaker 2-Mic + SIM7600A 4G to wiring diagram

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Sebastien Vayrette 2026-03-01 16:32:34 -05:00
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docs/wiring-diagram.md
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@ -10,9 +10,11 @@
│ USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud) │
│ USB-A1 ─── RealSense D435i (USB 3.1) │
│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
│ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │
│ CSI-A ──── ArduCam adapter → 2× IMX219 (front + left) │
│ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │
│ M.2 ───── 1TB NVMe SSD │
│ 40-pin ─── ReSpeaker 2-Mic HAT (I2S + I2C, WM8960 codec) │
│ Pin 8 ──┐ │
│ Pin 10 ─┤ UART fallback to FC (ttyTHS0, 921600) │
│ Pin 6 ──┘ GND │
@ -149,6 +151,59 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
| USB CDC | USB-C | 921600 | Jetson primary | `/dev/stm32-bridge` |
### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
| Orin Pin | Signal | Function |
|----------|--------|----------|
| Pin 12 (GPIO 18) | I2S BCLK | Audio bit clock |
| Pin 35 (GPIO 19) | I2S LRCLK | Audio left/right clock |
| Pin 38 (GPIO 20) | I2S DIN | Audio data in (from mics) |
| Pin 40 (GPIO 21) | I2S DOUT | Audio data out (to speaker) |
| Pin 3 (GPIO 2) | I2C SDA | WM8960 codec control (i2c-7) |
| Pin 5 (GPIO 3) | I2C SCL | WM8960 codec control (i2c-7) |
| Pin 32 (GPIO 12) | GPIO | Button input |
| Pin 11 (GPIO 17) | GPIO | RGB LED (APA102 data) |
| Pin 2, 4 | 5V | Power |
| Pin 6, 9 | GND | Ground |
- **Codec:** Wolfson WM8960 (I2C addr 0x1A)
- **Mics:** 2× MEMS (left + right) — basic stereo / sound localization
- **Speaker:** 3W class-D amp output (JST connector)
- **Headset:** 3.5mm TRRS jack
- **Requires:** WM8960 device tree overlay for Jetson (community port)
- **Use:** Voice commands (faster-whisper), wake word (openWakeWord), audio feedback, status announcements
### 8. SIM7600A 4G/LTE HAT (via USB)
| Connection | Detail |
|-----------|--------|
| Interface | USB (micro-B on HAT → USB-A/C on Orin) |
| Device nodes | `/dev/ttyUSB0` (AT), `/dev/ttyUSB1` (PPP/data), `/dev/ttyUSB2` (GPS NMEA) |
| Power | 5V from USB or separate 5V supply (peak 2A during TX) |
| SIM | Nano-SIM slot on HAT |
| Antenna | 4G LTE + GPS/GNSS (external SMA antennas — mount high on chassis) |
- **Data:** PPP or QMI for internet connectivity
- **GPS/GNSS:** Built-in receiver, NMEA sentences on ttyUSB2 — outdoor positioning
- **AT commands:** `AT+CGPS=1` (enable GPS), `AT+CGPSINFO` (get fix)
- **Connected via USB** (not 40-pin) — avoids UART conflict with FC fallback, flexible antenna placement
- **Use:** Remote telemetry, 4G connectivity outdoors, GPS positioning, remote SSH/control
### 9. Power Budget (USB)
| Device | Interface | Power Draw |
|--------|-----------|------------|
| STM32 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
| RealSense D435i | USB-A | ~1.5W (3.5W peak) |
| RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
| SIM7600A | USB | ~1W idle, 3W TX peak |
| ReSpeaker HAT | 40-pin | ~0.5W |
| **Total USB** | | **~6W typical, ~10W peak** |
Orin Nano Super delivers up to 25W — USB peripherals are well within budget.
---
## Data Flow
```
@ -178,6 +233,13 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
│ │ │ │
│ L motor R motor│ │ SLAM / Nav2 / AI │
│ 🛞 🛞 │ │ Person following │
└────────────────┘ │ cmd_vel → FC │
└───────────────────┘
└────────────────┘ │ Voice commands │
│ 4G telemetry │
└──┬──────────┬───────┘
│ │
┌──────────▼─┐ ┌────▼──────────┐
│ ReSpeaker │ │ SIM7600A │
│ 2-Mic HAT │ │ 4G/LTE + GPS │
│ 🎤 🔊 │ │ 📡 🛰️ │
└────────────┘ └───────────────┘
```