Inside the Qualcomm Robotics RB5 Development Kit

The core kit includes a QRB5165 SOM mounted on a credit card sized mainboard that houses many peripheral interfaces and a robust expansion interface that supports the addition of multiple stackable mezzanine cards for added functionality. 

Figure : 1. Top and bottom view


Figure : 2. Qualcomm Robotics RB5 Mainboard connectors


LabelKey main board interfacesNameDetails
1Low speed connectorLS1Low speed interfaces: SPI, I2C, UART, I2S/PCM, GPIO’s power same as 96 board specification
2Low speed connectorLS2Low speed interfaces: SPI, I2C, UART, I2S/PCM, DMIC, speakers, CAN, PWMs, ADCs, GPIO’s power additional to 96 board specification
3Low speed connectorLS3

Low speed interface: SPI, I2C, UART, sensor core, GPIO’s power, reference clocks, additional to 96 board specification

4High-speed connectorHS2

PCIe, CSI, SPI/UART/I2C, USB SS, GPIOs additional to 96 board specification

5High-speed connectorHS3PCIe, CSI, DSI, reference clocks, additional to 96 board specification
6High-speed connectorHS1

SDIO, DSI, CSI, HS USB, I2C, same as 96 board specification

7HDMIHDMI type AUp to 4K at 60 Hz with audio
8USB connectorUSB type-CUSB Type-C with display port (direct connect to processor)
9USB connectorUSB type A (host mode)USB 3.1 Gen 2 through USB hub
10USB connectorUSB type A (host mode)USB 3.1 Gen 2 through USB hub
11EthernetRJ45 Ethernet connectorEthernet through USB 3.0 (1 GB)
12PowerDC power input+ 12 V from wall supply
13AntennaAntenna12.4/5 GHz printed antenna
14AntennaAntenna02.4/5 GHz printed antenna
15microSD cardmicroSD cardmicroSD card tray
16Debug UARTMicro USB connectorConnector with FTDI USB to UART converter
Figure : 3. Mainboard LEDs, buttons, and dip switches


LabelKey main board interfacesNameDetails
1LEDsWi-Fi and Bluetooth LEDsYellow and blue, same as 96 board spec
2LEDsUser LEDsGreen, same as 96 board spec
Push-button switchForced USB bootMomentary switch
4Push-button switchPower onMomentary switch
5Push-button switchVol-Momentary switch
6Push-button switchVol+Momentary switch
7DIP switchesBoot config control4 switches
8DIP switchesUser controllable options6 switches
Figure : 4. Dip switches

DIP switch details:

DIP_SW_0NameDetailsDefault
1Mic switch

ON – On board DMIC

OFF – Off board DMIC

OFF
2Debug UART

ON – Debug UART

OFF – Off board UART

ON
3CBL_PWR_N

ON – Auto power-up

OFF – Push power button to power up

OFF
4HDMI switch

ON – DSIO to HS1 connector

OFF – DSIO to HDMI bridge

ON
5Sensor IMU toggle

ON – SPI to LS3 connector

OFF – SPI to onboard IMU

ON
6IMU external clock

ON – External clock to IMU

OFF – Internal clock to IMU

OFF
DIP_SW_1NameDetailsDefault
1BOOT_CONFIG_1 [GPIO_27]Selects external boot devicesOFF
2BOOT_CONFIG_2 [GPIO_47]OFF
3BOOT_CONFIG_3 [GPIO_76]OFF
4BOOT_CONFIG_0 [GPIO_128]

ON – Disables WDOG

OFF – Enables WDOG

OFF
GPIO details:
GPIOBoot device
FAST_BOOT GPIO bit (3:0)764727
0000000Default: UFS0 → SDC2 → USB0 → EDL (USB0)
OtherReserved

RF Antennas

The development board has two dual band (2.4/5GHz WLAN/Bluetooth) antennas. Coaxial cable connections between the SOM and antennas are not required because the RF connections go through the SOM board-to-board connector.

Figure : 5. RF antennas