ADRD4161-01Z Hardware Guide

Figure 1 ADRD4161-01Z Robotics Perception Compute Carrier

Component Function P6 Power input (Vin), 9-70 V DC P1, P3 CAN-IN, CAN-OUT connectors P2 Raspberry Pi 40-pin header P10 PI-GPIO, Raspberry Pi GPIO breakout header P11 MCU-GPIO, MAX32662 GPIO header P12 NC-COM-NO, relay contacts header (K1, K2) P8 12 V power output terminal P13 5 V power output terminal P7 UART header (UART4 + switchable 5 V) P5 14/16-pin ADIS16xxx IMU connector (secondary side) K1, K2 SPDT relays (1 A) DS1, DS2 Status LEDs S1 Push button switch

Board Layout

Figure 2 ADRD4161-01Z board layout (top view render)

Block Diagram

Figure 3 ADRD4161-01Z block diagram

Connectors

Power Input (P6)

The board accepts 9-70 V DC input on P6 through an isolated DC-DC converter (ODC40-12SC36-W), which provides:

• 12 V at up to 3 A for system voltage (P8)

• 5 V at up to 5 A for the Raspberry Pi and USB peripherals (P13)

Raspberry Pi Header (P2)

Standard 40-pin Raspberry Pi header for connecting compatible embedded compute platforms (Raspberry Pi 5, Nvidia Jetson/Orin/AGX, etc.).

IMU Connectors (P5)

Two IMU connectors provide plug-and-play compatibility with ADIS16xxx series IMU modules:

• P5 (Secondary side): 14/16-pin connector

UART Header (P7)

Exposes the Raspberry Pi’s UART4 interface and a switchable 5 V supply (controlled by GPIO 24). The 5 V supply is switched via an ADP198 load switch.

Pin	Signal	Description
1	5V_SW	Switchable 5 V (GPIO 24 enable)
2	GND	Ground
3	UART4_TXD	GPIO 12 (UART4 TX)
4	UART4_RXD	GPIO 13 (UART4 RX)

PI-GPIO Header (P10)

Exposes Raspberry Pi GPIO pins, including GPIO 23 (pin 11) for WS2812 LED control.

Pin	Signal	Description
1	5V	5 V supply
2	3V3	3.3 V supply
3	SDA	I2C data
4	GPIO26	General purpose I/O
5	GPIO22	General purpose I/O
6	GPIO20	General purpose I/O
7	GND	Ground
8	GND	Ground
9	SCL	I2C clock
10	GPIO6	General purpose I/O
11	GPIO23	WS2812 LED data
12	GPIO21	General purpose I/O

MCU-GPIO Header (P11)

Exposes MAX32662 microcontroller GPIO pins.

Pin	Signal	Description
1	5V	5 V supply
2	3V3	3.3 V supply
3	MCU_GPIO1	MCU general purpose I/O
4	MCU_GPIO3	MCU general purpose I/O
5	MCU_SDA	MCU I2C data
6	NC	Not connected
7	NC	Not connected
8	MCU_SCL	MCU I2C clock
9	MCU_GPIO2	MCU general purpose I/O
10	NC	Not connected
11	GND	Ground
12	GND	Ground

Relay Header (P12)

Exposes contacts for two SPDT relays (K1, K2), each rated for 1 A.

Pin	Signal	Description
1	NC1	K1 Normally Closed
2	COM1	K1 Common
3	NO1	K1 Normally Open
4	NC2	K2 Normally Closed
5	COM2	K2 Common
6	NO2	K2 Normally Open

Relay control GPIOs:

Relay	GPIO	P12 NC Pin	P12 Common Pin	P12 NO Pin
K1	17	1	2	3
K2	18	4	5	6

CAN Connectors (P1, P3)

The ADRDx161 board family communicates via CAN bus. The CAN interface on the ADRD4161-01Z is directly connected to the onboard MAX32662 MCU running slcan firmware. P1 (CAN-IN) and P3 (CAN-OUT) allow for daisy-chaining CAN devices.

Solder Jumpers

R27, R28, R29 - SWD Debug

When bridged, these jumpers expose the MAX32662 microcontroller’s SWD signals on the Raspberry Pi’s GPIOs for programming and debugging:

Jumper	Signal	Pi GPIO
R27	SWD_IO	6
R28	SWD_CLK	20
R29	SWD_RSTN	21

Onboard Components

MAX32662 Microcontroller

The MAX32662 handles CAN communication via the slcan protocol. It can be reprogrammed through SWD when the appropriate solder jumpers are bridged.

See ADRD4161-01Z Software Guide for reprogramming instructions.

Relays

Two SPDT relays (K1, K2) rated for 1 A, controlled via Raspberry Pi GPIOs:

• K1: GPIO 17

• K2: GPIO 18

Design Support Files

A design support package consisting of the board schematic, layout, assembly and fabrication files, and more, can be downloaded from the ADRD4161-01Z page.