adding docs for new electronics

Author: beniroquai

docs/03_Electronics/11-StepperMotorBackpack.md

@@ -229,3 +229,50 @@ void loop() {
 2. **Encoder Setup (AS5600)**: Uses I2C to read the encoder’s current position. The encoder provides feedback with a 12-bit resolution (4096 steps per revolution).
 3. **MoveStepper Function**: Moves the motor in a given direction (based on step count). The direction and steps are controlled using the DIR and STEP pins.
 4. **Feedback Loop**: The motor moves based on encoder feedback. If the encoder position is less than 180° (half of 4096 steps), the motor moves forward; otherwise, it moves backward to maintain a 360° operation.
+
+
+## Revision: CAN BUS
+
+The updated version has several improvements:
+
+- CAN BUS with a dedicated transreceiver
+- power safety features
+
+
+### The updated Pinout:
+
+
+```cpp
+// Pin definitions for Xiao ESP32S3
+#define PIN_PA02_A0_D0     0   // Analog/Digital Pin A0/D0
+#define PIN_PA04_A1_D1     1   // Analog/Digital Pin A1/D1
+#define PIN_PA06_A2_D2     2   // Analog/Digital Pin A2/D2
+#define PIN_PA15_A3_D3     3   // Analog/Digital Pin A3/D3
+#define PIN_PA13_A4_D4_SDA 4   // I2C SDA / Analog Pin A4/D4
+#define PIN_PA15_A5_D5_SCL 5   // I2C SCL / Analog Pin A5/D5
+#define PIN_PA6_D6_TX      6   // UART TX Pin
+#define PIN_PB09_D7_RX     7   // UART RX Pin
+
+// Motor Control Pins
+#define PIN_MOT_EN         8   // Motor Enable
+#define PIN_MOT_STEP       9   // Motor Step
+#define PIN_MOT_DIR        10  // Motor Direction
+#define PIN_UART_PICO      11  // UART PICO
+
+// CAN Bus Pins
+#define PIN_CAN_RECV       16  // CAN Receive
+#define PIN_CAN_SEND       17  // CAN Send
+
+// I2C Bus (Alternate definition for clarity)
+#define I2C_SDA_PIN        PIN_PA13_A4_D4_SDA
+#define I2C_SCL_PIN        PIN_PA15_A5_D5_SCL
+
+// Additional Pins
+#define PIN_ENDSTOP        12  // Endstop for motor
+#define PIN_MOT_DIAG       13  // Motor diagnostics
+```
+
+
+## Attention:
+
+![](./IMAGES/ESP32S3CanOverview.jpeg)

docs/03_Electronics/12-RaspberryPiHat+.md

@@ -0,0 +1,115 @@
+# HAT+
+
+This is a HAT for the Raspberry Pi 5 that adapts the Raspberry pi to an esp32 that in turn talks to auxilary components like motors and illumination modules via CAN Bus and I2C (optionally).
+
+
+## Pinout
+
+This is the hat's pinout on:
+
+```json
+raspi_pinheader = {
+    1: {"Pin": 1, "Function": "+3.3V"},
+    2: {"Pin": 2, "Function": "+5V"},
+    3: {"Pin": 3, "Function": "I2C_1_SDA (GPIO2)"},
+    4: {"Pin": 4, "Function": "+5V"},
+    5: {"Pin": 5, "Function": "I2C_1_SCL (GPIO3)"},
+    6: {"Pin": 6, "Function": "GND"},
+    7: {"Pin": 7, "Function": "GPIO4"},
+    8: {"Pin": 8, "Function": "RPI_UART_TX (GPIO14)"},
+    9: {"Pin": 9, "Function": "GND"},
+    10: {"Pin": 10, "Function": "RPI_UART_RX (GPIO15)"},
+    11: {"Pin": 11, "Function": "GPIO17"},
+    12: {"Pin": 12, "Function": "GPIO18"},
+    13: {"Pin": 13, "Function": "GPIO27"},
+    14: {"Pin": 14, "Function": "GND"},
+    15: {"Pin": 15, "Function": "GPIO22"},
+    16: {"Pin": 16, "Function": "GPIO23"},
+    17: {"Pin": 17, "Function": "+3.3V"},
+    18: {"Pin": 18, "Function": "GPIO24"},
+    19: {"Pin": 19, "Function": "CAN-ctrl_PICO (GPIO10)"},
+    20: {"Pin": 20, "Function": "GND"},
+    21: {"Pin": 21, "Function": "CAN-ctrl_POCI (GPIO9)"},
+    22: {"Pin": 22, "Function": "GPIO25"},
+    23: {"Pin": 23, "Function": "CAN-ctrl_SCK (GPIO11)"},
+    24: {"Pin": 24, "Function": "CAN-ctrl_CS (GPIO8)"},
+    25: {"Pin": 25, "Function": "GND"},
+    26: {"Pin": 26, "Function": "EEPROM_SCL (GPIO0)"},
+    27: {"Pin": 27, "Function": "EEPROM_SDA (GPIO1)"},
+    28: {"Pin": 28, "Function": "Reserved"},
+    29: {"Pin": 29, "Function": "GPIO5"},
+    30: {"Pin": 30, "Function": "GND"},
+    31: {"Pin": 31, "Function": "GPIO6"},
+    32: {"Pin": 32, "Function": "GPIO12"},
+    33: {"Pin": 33, "Function": "GPIO13"},
+    34: {"Pin": 34, "Function": "GND"},
+    35: {"Pin": 35, "Function": "GPIO19"},
+    36: {"Pin": 36, "Function": "GPIO16"},
+    37: {"Pin": 37, "Function": "GPIO26"},
+    38: {"Pin": 38, "Function": "GPIO20"},
+    39: {"Pin": 39, "Function": "GND"},
+    40: {"Pin": 40, "Function": "GPIO21"},
+}
+```
+
+![](./IMAGES/HAT+Pinout.jpeg)
+
+
+
+## ESP32 CAN INterface
+
+The HAT+ hosts an ESP32 that converts UART/Serial into CAN Control commands for the external components. The pinout is the following:
+
+```cpp
+
+// GPIO Pin Definitions for ESP32-S3 Xiao
+#define GPIO_TXD0        0   // UART TX
+#define GPIO_RXD0        1   // UART RX
+#define GPIO_SENSOR_VP   2   // Sensor VP
+#define GPIO_SENSOR_VN   3   // Sensor VN
+#define GPIO_STRAP_PIN_4 4   // Strapping pin 4
+#define GPIO_STRAP_PIN_5 5   // Strapping pin 5
+#define GPIO_IO6         6
+#define GPIO_IO7         7
+#define GPIO_IO8         8   // NeoPixel or LEDC PWM Output
+#define GPIO_IO9         9
+#define GPIO_IO10       10
+#define GPIO_IO11       11
+#define GPIO_IO12       12   // Strapping pin / JTAG
+#define GPIO_IO13       13   // Strapping pin / JTAG
+#define GPIO_IO14       14   // Strapping pin / JTAG
+#define GPIO_IO15       15   // Strapping pin / JTAG
+#define GPIO_IO16       16   // ESP_CAN_SEND
+#define GPIO_IO17       17   // ESP_CAN_RECV
+#define GPIO_I2C_SDA    18   // I2C SDA
+#define GPIO_I2C_SCL    19   // I2C SCL
+#define GPIO_DAC        20   // DAC Pin
+#define GPIO_IO21       21
+#define GPIO_IO22       22
+#define GPIO_IO23       23
+#define GPIO_IO24       24
+#define GPIO_IO25       25
+#define GPIO_IO26       26
+#define GPIO_IO27       27
+#define GPIO_IO28       28
+
+// Additional Connections
+#define GPIO_CAM_TRIGGER_IN_0 29  // Camera Trigger Input Line 0
+#define GPIO_CAM_TRIGGER_OUT_1 30 // Camera Trigger Output Line 1
+#define GPIO_CAM_IO_LINE_2     31 // Camera I/O Line 2
+
+// Default I2C Pins
+#define I2C_SDA_PIN GPIO_I2C_SDA
+#define I2C_SCL_PIN GPIO_I2C_SCL
+
+// CAN Bus Pins
+#define CAN_SEND_PIN GPIO_IO16
+#define CAN_RECV_PIN GPIO_IO17
+```
+
+![](./IMAGES/ESP32Pinout.jpeg)
+
+
+## HAT+ on Jetson
+
+![](./IMAGES/HAT+Jetson.jpeg)