Multi IMU

.github/workflows/kibot-release-from-tag.yaml

@@ -17,7 +17,6 @@ jobs:
         with:
           config: Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml
           board: Hardware/OpenMowerMainboard/OpenMowerMainboard.kicad_pcb
-          skip: run_drc,run_erc
 
       - uses: "marvinpinto/action-automatic-releases@latest"
         with:

Hardware/OpenMowerMainboard/GPS.kicad_sch

@@ -465,19 +465,25 @@
       )
     )
     (symbol "MyModules:Arduino_Uno_Shield" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
-      (property "Reference" "XA" (id 0) (at 2.54 0 90)
+      (property "Reference" "XA1" (id 0) (at 0 35.56 0)
         (effects (font (size 1.524 1.524)))
       )
-      (property "Value" "Arduino_Uno_Shield" (id 1) (at -2.54 0 90)
+      (property "Value" "Arduino_Uno_Shield" (id 1) (at 0 31.75 0)
         (effects (font (size 1.524 1.524)))
       )
-      (property "Footprint" "" (id 2) (at 45.72 95.25 0)
+      (property "Footprint" "MyModules:Arduino_Uno_Shield" (id 2) (at 45.72 95.25 0)
         (effects (font (size 1.524 1.524)) hide)
       )
       (property "Datasheet" "" (id 3) (at 45.72 95.25 0)
         (effects (font (size 1.524 1.524)) hide)
       )
-      (property "ki_fp_filters" "Arduino_Uno_Shield" (id 4) (at 0 0 0)
+      (property "Config" "do not place" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "DNP" "Y" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "Arduino_Uno_Shield" (id 6) (at 0 0 0)
         (effects (font (size 1.27 1.27)) hide)
       )
       (symbol "Arduino_Uno_Shield_0_0"
@@ -731,7 +737,7 @@
           (name "GND" (effects (font (size 1.27 1.27))))
           (number "GND3" (effects (font (size 1.27 1.27))))
         )
-        (pin output line (at 33.02 -26.67 180) (length 7.62)
+        (pin power_in line (at 33.02 -26.67 180) (length 7.62)
           (name "IOREF" (effects (font (size 1.27 1.27))))
           (number "IORF" (effects (font (size 1.27 1.27))))
         )
@@ -899,6 +905,7 @@
     )
   )
 
+
   (junction (at 118.11 96.52) (diameter 0) (color 0 0 0 0)
     (uuid b8b15b51-8345-4a1d-8ecf-04fc15b9e450)
   )
@@ -928,6 +935,38 @@
   (no_connect (at 187.96 58.42) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e2))
   (no_connect (at 187.96 60.96) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e3))
   (no_connect (at 187.96 101.6) (uuid 308cb55e-95a7-46e2-89df-43a5fdb258e4))
+  (no_connect (at 210.82 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b03))
+  (no_connect (at 210.82 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b04))
+  (no_connect (at 210.82 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b05))
+  (no_connect (at 210.82 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b06))
+  (no_connect (at 210.82 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b07))
+  (no_connect (at 210.82 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b08))
+  (no_connect (at 221.615 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b09))
+  (no_connect (at 221.615 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0a))
+  (no_connect (at 221.615 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0b))
+  (no_connect (at 221.615 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0c))
+  (no_connect (at 221.615 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0d))
+  (no_connect (at 232.41 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0e))
+  (no_connect (at 232.41 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b0f))
+  (no_connect (at 232.41 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b10))
+  (no_connect (at 232.41 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b11))
+  (no_connect (at 242.57 91.44) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b12))
+  (no_connect (at 242.57 93.98) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b13))
+  (no_connect (at 221.615 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b14))
+  (no_connect (at 221.615 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b15))
+  (no_connect (at 232.41 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b16))
+  (no_connect (at 221.615 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b17))
+  (no_connect (at 232.41 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b18))
+  (no_connect (at 232.41 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b19))
+  (no_connect (at 232.41 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1a))
+  (no_connect (at 242.57 71.12) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1b))
+  (no_connect (at 242.57 73.66) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1c))
+  (no_connect (at 242.57 76.2) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1d))
+  (no_connect (at 242.57 78.74) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1e))
+  (no_connect (at 242.57 81.28) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b1f))
+  (no_connect (at 242.57 83.82) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b20))
+  (no_connect (at 242.57 86.36) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b21))
+  (no_connect (at 242.57 88.9) (uuid 87c85dd5-5786-46ed-9c45-f51d221c0b22))
   (no_connect (at 121.92 99.06) (uuid b652d8e8-4f9a-4db4-b00b-80a04a5eea9d))
   (no_connect (at 121.92 104.14) (uuid b652d8e8-4f9a-4db4-b00b-80a04a5eea9e))
 
@@ -968,9 +1007,10 @@
     (uuid f34bd975-248c-4880-826a-51cd0091b014)
   )
 
-  (label "GPS_POWER" (at 99.06 101.6 0)
+  (text "TODO: (here and other similar places)\nAdded NC to all pins \nbut this is probably wrong\nworkaround"
+    (at 210.185 63.5 0)
     (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid 0e22ab5d-776d-432c-aba2-ef98f4ab60c9)
+    (uuid 0aebd4b1-26c9-4c64-882a-2c16bdb0d4fa)
   )
 
   (hierarchical_label "TXD" (shape output) (at 121.92 50.8 180)
@@ -1014,28 +1054,28 @@
     (pin "1" (uuid c7ec9769-4fef-44cb-946c-62be59a54b29))
   )
 
-  (symbol (lib_id "Connector:Conn_01x10_Female") (at 227.33 81.28 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x10_Female") (at 247.65 81.28 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 649164b7-9eb9-4189-839a-6dcef63f68c2)
-    (property "Reference" "J50" (id 0) (at 228.0412 81.6415 0)
+    (property "Reference" "J50" (id 0) (at 248.92 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x10_Female" (id 1) (at 228.0412 84.4166 0)
+    (property "Value" "Conn_01x10_Female" (id 1) (at 229.235 96.52 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 227.33 81.28 0)
+    (property "Footprint" "" (id 2) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 227.33 81.28 0)
+    (property "Datasheet" "~" (id 3) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C35445" (id 4) (at 227.33 81.28 0)
+    (property "LCSC" "C35445" (id 4) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C35445" (id 5) (at 227.33 81.28 0)
+    (property "Part Number" "C35445" (id 5) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x10-.1F" (id 6) (at 227.33 81.28 0)
+    (property "Stock_PN" "J-TH-1x10-.1F" (id 6) (at 247.65 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 13a9936b-943c-4aa4-b3eb-21470a0b8d0a))
@@ -1066,28 +1106,28 @@
     (pin "1" (uuid c3d92efa-83e8-4046-af4a-ce6fe6729a30))
   )
 
-  (symbol (lib_id "Connector:Conn_01x08_Female") (at 219.71 82.55 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x08_Female") (at 237.49 78.74 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 6f651fde-880e-4ecf-90c1-1b78a286d743)
-    (property "Reference" "J49" (id 0) (at 220.4212 82.9115 0)
+    (property "Reference" "J49" (id 0) (at 238.125 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x08_Female" (id 1) (at 220.4212 85.6866 0)
+    (property "Value" "Conn_01x08_Female" (id 1) (at 219.075 93.345 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 219.71 82.55 0)
+    (property "Footprint" "" (id 2) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 219.71 82.55 0)
+    (property "Datasheet" "~" (id 3) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C27438" (id 4) (at 219.71 82.55 0)
+    (property "LCSC" "C27438" (id 4) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C27438" (id 5) (at 219.71 82.55 0)
+    (property "Part Number" "C27438" (id 5) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 219.71 82.55 0)
+    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 237.49 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid e9a2ff4d-56e8-4b37-be6f-bab16943d949))
@@ -1100,28 +1140,28 @@
     (pin "8" (uuid c21dd749-e5a2-41dd-904a-5cedd225ffe9))
   )
 
-  (symbol (lib_id "Connector:Conn_01x06_Female") (at 207.01 76.2 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x06_Female") (at 215.9 76.2 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid 8ad4c26e-7799-43b5-bce7-e03b56392be4)
-    (property "Reference" "J47" (id 0) (at 207.7212 76.5615 0)
+    (property "Reference" "J47" (id 0) (at 217.17 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x06_Female" (id 1) (at 207.7212 79.3366 0)
+    (property "Value" "Conn_01x06_Female" (id 1) (at 196.85 85.725 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 207.01 76.2 0)
+    (property "Footprint" "" (id 2) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 207.01 76.2 0)
+    (property "Datasheet" "~" (id 3) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C40877" (id 4) (at 207.01 76.2 0)
+    (property "LCSC" "C40877" (id 4) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C40877" (id 5) (at 207.01 76.2 0)
+    (property "Part Number" "C40877" (id 5) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 207.01 76.2 0)
+    (property "Stock_PN" "J-TH-1x6-.1F" (id 6) (at 215.9 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7995e523-012f-4e1e-8697-85e9be4682cc))
@@ -1132,28 +1172,28 @@
     (pin "6" (uuid 22922ee9-66b2-4367-8e70-65eb0368f0f5))
   )
 
-  (symbol (lib_id "Connector:Conn_01x08_Female") (at 215.9 78.74 0) (unit 1)
-    (in_bom yes) (on_board no) (fields_autoplaced)
+  (symbol (lib_id "Connector:Conn_01x08_Female") (at 226.695 78.74 0) (unit 1)
+    (in_bom yes) (on_board no)
     (uuid d240376e-d4dc-4178-9a18-103da8255742)
-    (property "Reference" "J48" (id 0) (at 216.6112 79.1015 0)
+    (property "Reference" "J48" (id 0) (at 227.965 76.2 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "Conn_01x08_Female" (id 1) (at 216.6112 81.8766 0)
+    (property "Value" "Conn_01x08_Female" (id 1) (at 208.28 90.805 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "" (id 2) (at 215.9 78.74 0)
+    (property "Footprint" "" (id 2) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 215.9 78.74 0)
+    (property "Datasheet" "~" (id 3) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC" "C27438" (id 4) (at 215.9 78.74 0)
+    (property "LCSC" "C27438" (id 4) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Part Number" "C27438" (id 5) (at 215.9 78.74 0)
+    (property "Part Number" "C27438" (id 5) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 215.9 78.74 0)
+    (property "Stock_PN" "J-TH-1x8-.1F" (id 6) (at 226.695 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid f9995274-631f-4d7b-8fea-d47ca7287dc2))

Hardware/OpenMowerMainboard/MyModules.pretty/WT901.kicad_mod

@@ -0,0 +1,41 @@
+(footprint "WT901" (version 20211014) (generator pcbnew)
+  (layer "F.Cu")
+  (tedit 0)
+  (property "Sheetfile" "imu.kicad_sch")
+  (property "Sheetname" "IMU")
+  (autoplace_cost90 10)
+  (autoplace_cost180 10)
+  (attr through_hole exclude_from_pos_files)
+  (fp_text reference "J51" (at -8.382 -1.62 90) (layer "F.SilkS")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 42287e2f-cd28-48db-8040-8a3c60c3e22f)
+  )
+  (fp_text value "Conn_01x06_Female" (at 0 0) (layer "F.Fab")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 67841901-d5d6-47a2-bf1a-2666ee09d1aa)
+  )
+  (fp_line (start -7.2 -7.25) (end 7.2 -7.25) (layer "F.CrtYd") (width 0.05) (tstamp 0e1e6983-14c4-4660-a956-29cd0371ac3f))
+  (fp_line (start -7.2 7.25) (end -7.2 -7.25) (layer "F.CrtYd") (width 0.05) (tstamp 7722fa4b-1262-492d-9e15-d7b07d5ebde0))
+  (fp_line (start 7.2 -7.25) (end 7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp b19a6244-322c-4737-9aa7-821b5c426fc2))
+  (fp_line (start 7.2 7.25) (end -7.2 7.25) (layer "F.CrtYd") (width 0.05) (tstamp ca68cead-91db-4d29-aa24-b3b5bd0eaab2))
+  (fp_line (start -7.45 -2.5) (end -7.09 -2.5) (layer "F.Fab") (width 0.12) (tstamp 00efc7e4-8a0a-488d-9df6-7ab780935590))
+  (fp_line (start -7.09 2.499999) (end -7.45 2.499999) (layer "F.Fab") (width 0.12) (tstamp 48f0eb67-09a3-4696-91e6-d3b761f0a34e))
+  (fp_line (start -7.09 -2.5) (end -7.09 2.499999) (layer "F.Fab") (width 0.12) (tstamp 5ceaa511-36ab-4318-af05-e22f6240af91))
+  (fp_line (start 7.45 -7.5) (end -7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp 786e59c4-4ae6-4c88-9f13-bad70d5a1c98))
+  (fp_line (start -7.45 -7.5) (end -7.45 -2.5) (layer "F.Fab") (width 0.12) (tstamp 9074f5d7-aaff-4c1a-a3ea-d3ee4e2103f4))
+  (fp_line (start -7.45 2.499999) (end -7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp 9f385574-248d-49bb-8866-d358753413de))
+  (fp_line (start -7.45 7.5) (end 7.45 7.5) (layer "F.Fab") (width 0.12) (tstamp ae159030-0423-4a69-97b5-5edcede41312))
+  (fp_line (start 7.45 7.5) (end 7.45 -7.5) (layer "F.Fab") (width 0.12) (tstamp da04f3f0-c5d1-4887-922b-4ea4a662d726))
+  (pad "1" thru_hole oval (at -6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp a502cd57-bd3e-4366-9ada-61598eb59137))
+  (pad "2" thru_hole oval (at -3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 22bb17ce-2921-4916-a9c6-0854019c8ede))
+  (pad "3" thru_hole oval (at -1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 6b410de5-898f-4eab-923a-3bceab206172))
+  (pad "4" thru_hole oval (at 1.27 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp 757ce66e-3068-45f1-8d0d-862b9134c2a6))
+  (pad "5" thru_hole oval (at 3.81 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp ced500e8-7eb9-459d-b3c5-2c5724afe055))
+  (pad "6" thru_hole oval (at 6.35 6) (size 1.2 2) (drill 0.8) (layers *.Cu *.Mask) (tstamp a489be82-9da0-4d48-b9c9-d0ab64ffe1e9))
+  (pad "7" connect oval (at 6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 3d131b53-9398-409c-a184-fe4cbaf51d7f))
+  (pad "8" connect oval (at 3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 78f2ac9f-55b7-4523-a313-06c650d23b00))
+  (pad "9" connect oval (at 1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 9cc99731-3bb1-474f-9855-89aad5c596fb))
+  (pad "10" connect oval (at -1.27 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 38866133-f31b-4db2-b7c4-22b69fe34807))
+  (pad "11" connect oval (at -3.81 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp 8cbb86f1-a348-4391-9f33-902341e0b6db))
+  (pad "12" connect oval (at -6.35 -6) (size 1.2 2) (layers "F.Cu" "F.Mask") (tstamp b7917eef-742d-4826-a0c8-1903631be269))
+)

Hardware/OpenMowerMainboard/OpenMowerMainboard.kibot.yaml

@@ -2,8 +2,14 @@ kibot:
   version: 1
 
 preflight:
-  run_erc: true
   run_drc: true
+  run_erc: true
+
+  filters:
+    - filter: 'SIP32509DT has 2 VOUTs'
+      error: 'pin_to_pin'
+      regex: 'Symbol U3'
+
   set_text_variables:
     - name: 'git_version'
       # Replace n.m.i with n.m."x"
@@ -105,6 +111,17 @@ outputs:
       format: 'png'
       dnf_filter: anything_in_Config
 
+  - name: 'render_3d'
+    comment: "Exports the image generated by KiCad's 3D viewer."
+    type: 'render_3d'
+    dir: 'release'
+    options:
+      rotate_x: 1
+      rotate_y: 1
+      ray_tracing: true
+      wait_render: -600
+      zoom: 2
+
   - name: 'navigate_results'
     comment: 'Generates a web page to navigate the generated outputs'
     type: 'navigate_results'