EDGE-A/B Overall Design (ESP32-S3-WROOM-1-N16R8)

EDGE-A (Expanded Model, General):

• Dual CPU/MCU System
  • EDGE-A uses a single ESP32-S3 and a single RP2350 dual-core ARM Cortex-M0+, with the S3 handling high-level coordination, wireless communication (WiFi/Bluetooth), audio processing, data logging, user interface, and system management, while the RP2350 serves as the dedicated real-time processing unit for precise motor control, quadrature encoder processing, sensor fusion (gyroscope + TOF), PWM generation, and all timing-critical operations.
  • The two will communicate over dedicated high speed UART
• ESP32-S3 based (ESP32-S3-WROOM-1)
  • N16R8
  • 2.4 GHz Wifi (802.11 b/g/n)
  • Bluetooth 5.0 (LE)
  • USB-C (USB4085-GF-A)
  • Interrupt-capable GPIO pins for encoders/switches
    • Analog comparators for limit switches
    • Hardware quadrature encoder inputs (4 channels)
  • Low-power sleep modes
    • Light Sleep Mode
      • CPU is paused, RTC and ULP co-processor are running.
      • Peripherals (like WiFi, BT) can stay connected.
      • Wakeup sources: Timer, GPIO, ULP, etc.
      • Lower power consumption than active mode.
    • Deep Sleep Mode
      • CPU, most RAM, and peripherals are powered down.
      • Only RTC memory and ULP remain active.
      • Very low power (tens of µA).
      • Wakeup sources: RTC Timer, GPIO, ULP.
• RP2354B
  • External 128MB flash memory (W25Q128JVS)
  • External Crystal (ABM8-272-T3)
• I/O OUT - Check GPIO Diagram
  • 10 PIO pins (5 pairs) - maximizes the RP2354B strength
  • 2 ADC pins - essential for motor feedback
  • I/O can be male/female dupont
• Distance TOF Sensor (VL53L0CXV0DH1)
• Gyroscope (ICM-20948)
  • Motion Interrupted Logging (MIL): only log while moving
• USB-C/Battery Power
  • Battery monitoring/protection circuit
• On-board voltage regulation (3.3V, 5V, GND rails)
• 3 PWM control channels
  • 2 integrated DC motor drivers (DRV8833)
• 3 Servo Connections (GND, 5V, I/O)
• MicroSD Card Slot (TF-115)
• 3x RGB LED (WS2812B)
• Onboard Microphone (ICS-43434)
• Internal USB hub IC (CH334R)
  • Single USB-C connector routes to the hub
  • Hub connects to both ESP32-S3 and RP2354B USB lines
  • Each processor appears as separate COM ports on computer
• LoRa/LoRaWAN Communication (Wio-SX1262)
• Battery Charger Circuit (MP2607DL-LF-Z)

EDGE-B (Expanded Model, Machine Learning):

• Dual CPU/MCU System
  • EDGE-B uses a single ESP32-S3 and a single Kendryte K210 (Sipeed M1), the S3 for high-level planning, sensor fusion (gyro + TOF), wireless communication, audio processing, data logging, user interface, and the K210 for AI and ML applications.
  • The two will communicate over dedicated high speed UART and distribute tasks/share larger pieces of information via shared EEPROM.
  • Ideally, a MAIX M1 chip would be used instead of a bare K210, but if needed, a bare K210 will do.
• ESP32-S3 (ESP32-S3-WROOM-1)
  • N16R8
  • 2.4 GHz Wifi (802.11 b/g/n)
  • Bluetooth 5.0 (LE)
  • USB-C (USB4085-GF-A)
  • Interrupt-capable GPIO pins for encoders/switches
    • Analog comparators for limit switches
    • Hardware quadrature encoder inputs (PCNT)
  • Low-power sleep modes
    • Light Sleep Mode
      • CPU is paused, RTC and ULP co-processor are running.
      • Peripherals (like WiFi, BT) can stay connected.
      • Wakeup sources: Timer, GPIO, ULP, etc.
      • Lower power consumption than active mode.
    • Deep Sleep Mode
      • CPU, most RAM, and peripherals are powered down.
      • Only RTC memory and ULP remain active.
      • Very low power (tens of µA).
      • Wakeup sources: RTC Timer, GPIO, ULP.
• K210 based (Sipeed MAiX module or bare chip)
• I/O OUT - Check GPIO Diagram
• Camera Input for OV2640 (FPC footprint cable)
  • Connected to the K210
• Gyroscope (ICM-20948)
  • Motion Interrupted Logging (MIL): only log while moving
• USB-C/Battery Power
  • Battery monitoring/protection circuit
• On-board voltage regulation (3.3V, 5V, GND rails)
• 2 PWM control channels
  • 2 integrated DC motor drivers (DRV8833)
• MicroSD Card Slot (TF-115)
• 3x RGB LED (WS2812B)
• Onboard Microphone (ICS-43434)
• EEPROM shared 128MB storage (CAT24M01W)
• Ribbon Cable Input (OV2640)
• Internal USB hub IC (CH334R)
  • Single USB-C connector routes to the hub
  • Hub connects to both ESP32-S3 and K210 USB lines
  • Each processor appears as separate COM ports on computer
• K210 - USB-to-UART bridge (CH340N)
• K210 will also need a dedicated 16MB of flash storage
• Battery Charger Circuit (MP2607DL-LF-Z)