1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

A A

U25 +3V3
U17 +3V3
U1 +3V3 U9 +3V3 ICM-42688-P
ICM-42688-P
ICM-42688-P ICM-42688-P
8
8 VDD
8 8 VDD 5
VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
12 2
12 2 IMU_CS AP_CS RESV_2
12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C80 C88 C96
IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C56 C64 C72 IMU_SCLK AP_SCL/AP_SCLK RESV_3
B 13 3 C4 C16 C24 13 3 C32 C40 C48 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF B
IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
MOSI 14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
+1V2 +1V2 +1V2 +1V2 +1V2 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO25 AP_SDO/AP_AD0 RESV_11
MISO 1 11 1 11 IMU_MISO17 AP_SDO/AP_AD0 RESV_11 7
IMU_MISO1 AP_SDO/AP_AD0 RESV_11 IMU_MISO9 AP_SDO/AP_AD0 RESV_11 7 RESV_7
7 7 RESV_7
RESV_7 RESV_7
6 GND
C7 C9 C10 C112 C113 6 GND GND
6 GND 6 GND GND
100n 100n 100n 4.7uF 4.7uF GND GND

GND
GND GND GND GND GND GND
GND GND

+3V3 +3V3 +3V3 +3V3 +3V3

U26 +3V3
C1 C2 C111 C5 C3 U18 +3V3
U2 +3V3 U10 +3V3 ICM-42688-P
100n 100n 100n 100n 4.7uF ICM-42688-P
ICM-42688-P ICM-42688-P
8
8 VDD
8 8 VDD 5
GND GND GND GND GND VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
C 9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT C
FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
12 2
12 2 IMU_CS AP_CS RESV_2
+3V3 12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C81 C89 C97
+3V3 IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C57 C65 C73 IMU_SCLK AP_SCL/AP_SCLK RESV_3
13 3 C6 C17 C25 13 3 C33 C41 C49 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
33

22 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO26 AP_SDO/AP_AD0 RESV_11

+3V3 1 11 1 11 IMU_MISO18 AP_SDO/AP_AD0 RESV_11 7
VCCIO_0

IMU_MISO2 AP_SDO/AP_AD0 RESV_11 IMU_MISO10 AP_SDO/AP_AD0 RESV_11 7 RESV_7

SPI_VCCIO1
7 7 RESV_7
RESV_7 RESV_7
6 GND
GND GND

1
6
8 7 +3V3 +1V2 6 GND 6 GND GND

VCCIO_2
25 FPGA_RST ~{CRESET} CDONE FPGA_CDONE GND GND
IMU_MISO4 IOT_36b
23
IMU_MISO5 IOT_37a
27 GND
IMU_MISO27 IOT_38b 6 GND

24

29
IMU_MISO14 IOB_13b GND GND

5
26 46
IMU_MISO32 IOT_39a 9 IMU_MISO21 IOB_0a

VPP_2V5
VCC
IOB_16a

VCCPLL
28 IMU_MISO9 47
IMU_MISO31 IOT_41a 10 IMU_MISO20 IOB_2a
31 IMU_MISO13 IOB_18a 44 U33C
IMU_MISO26 IOT_42b 11 IMU_MISO22 IOB_3b_G6
32 IMU_MISO12 IOB_20a 48 ICE5LP1K-SG48 U33D
IMU_MISO30 IOT_43a U33A 12 IMU_MISO16 IOB_4a
34 IMU_MISO8 IOB_22b 45 ICE5LP1K-SG48
IMU_MISO25 IOT_44b ICE5LP1K-SG48 21 IMU_MISO17 IOB_5b U27 +3V3
IOB_23b U19 +3V3

GND
37 IMU_MISO1 2
IMU_MISO24 IOT_45a_G1 13 IMU_MISO11 IOB_6a U3 +3V3 U11 +3V3 ICM-42688-P
35 IMU_MISO3 IOB_24a 4 ICM-42688-P
IMU_MISO29 IOT_46b_G0 20 IMU_MISO10 IOB_8a ICM-42688-P ICM-42688-P

49
36 IMU_MISO6 IOB_25b_G3 3 8
IMU_MISO28 IOT_48b 19 IMU_MISO15 IOB_9b 8 VDD
D 43 IMU_MISO2 IOB_29b 8 8 VDD 5 D
IMU_MISO18 IOT_49a 18 VDD VDD 5 VDDIO +3V3
38 IMU_MISO7 IOB_31b GND 5 5 VDDIO +3V3
IMU_MISO19 IOT_50b 14 VDDIO +3V3 VDDIO +3V3
42 FPGA_SO IOB_32a_SPI_SO 9 4
IMU_MISO23 IOT_51a 17 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
39 FPGA_SI IOB_33b_SPI_SI 9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
FPGA_LED_B RGB0 15 FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
40 FPGA_SCK IOB_34a_SPI_SCK 12 2
FPGA_LED_G RGB1 16 12 2 IMU_CS AP_CS RESV_2
41 FPGA_CS IOB_35b_SPI_SS 12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C82 C90 C98
FPGA_LED_R RGB2 IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C58 C66 C74 IMU_SCLK AP_SCL/AP_SCLK RESV_3
13 3 C8 C18 C26 13 3 C34 C42 C50 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
U33B 14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO27 AP_SDO/AP_AD0 RESV_11
ICE5LP1K-SG48 1 11 1 11 IMU_MISO19 AP_SDO/AP_AD0 RESV_11 7
IMU_MISO3 AP_SDO/AP_AD0 RESV_11 IMU_MISO11 AP_SDO/AP_AD0 RESV_11 7 RESV_7
7 7 RESV_7
RESV_7 RESV_7
6 GND
6 GND GND
6 GND 6 GND GND
GND GND

GND
GND
GND GND
+3V3

TP8
IMU_MISO12
TestPoint
1
TP4
IMU_CS 2
TestPoint U28 +3V3
E 3 U13 +3V3 U20 +3V3 E
TP5 U4 +3V3 ICM-42688-P
IMU_MOSI 4 ICM-42688-P ICM-42688-P
TestPoint ICM-42688-P
5 8
TP6 IMU1_INT 8 8 VDD
IMU_SCLK 6 8 VDD VDD 5
TestPoint IMU_CS VDD 5 5 VDDIO +3V3
7 5 VDDIO +3V3 VDDIO +3V3
TP7 FPGA_RST VDDIO +3V3
8 9 4
TestPoint FPGA_CDONE 9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
9 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
GND IMU_SCLK FSYNC INT2/FSYNC/CLKIN INT1/INT
10 12 2
+1V2 FSYNC 12 2 12 2 IMU_CS AP_CS RESV_2
11 12 2 IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C83 C91 C99
J1 IMU_CS AP_CS RESV_2 13 3 C36 C44 C52 13 3 C59 C67 C75 IMU_SCLK AP_SCL/AP_SCLK RESV_3
TP1 12 13 3 C11 C19 C27 IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
FPGA_SCK FPGA_SO Conn_01x22_Shielded IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
TestPoint 13 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
+3V3 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 1 11 IMU_MISO28 AP_SDO/AP_AD0 RESV_11
14 1 11 IMU_MISO13 AP_SDO/AP_AD0 RESV_11 IMU_MISO20 AP_SDO/AP_AD0 RESV_11 7
FPGA_SCK IMU_MISO4 AP_SDO/AP_AD0 RESV_11 7 7 RESV_7
TP2 15 7 RESV_7 RESV_7
RESV_7
TestPoint IMU_MOSI 16 6 GND
FPGA_CS 6 GND 6 GND GND
TP3 17 6 GND GND GND
GND
TestPoint 18
FPGA_SI
GND FPGA_SI 19
GND
+1V2 20 GND GND
GND
21
22
F F
MP1

U29 +3V3
U21 +3V3
U5 +3V3 U12 +3V3 ICM-42688-P
+3V3 R3 D1 ICM-42688-P
GND GND ICM-42688-P ICM-42688-P
330R GREEN 8
8 VDD
8 8 VDD 5
FPGA_CDONE VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
R4 D2 9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
330R RED 9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
H1 FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
12 2
FPGA_LED_R MountingHole 12 2 IMU_CS AP_CS RESV_2
12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C84 C92 C100
R5 D3 IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C60 C68 C76 IMU_SCLK AP_SCL/AP_SCLK RESV_3
H2 13 3 C12 C20 C28 13 3 C35 C43 C51 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
330R GREEN IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
MountingHole 14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO29 AP_SDO/AP_AD0 RESV_11
FPGA_LED_G 1 11 1 11 IMU_MISO21 AP_SDO/AP_AD0 RESV_11 7
H3 IMU_MISO5 AP_SDO/AP_AD0 RESV_11 IMU_MISO12 AP_SDO/AP_AD0 RESV_11 7 RESV_7
R6 D4 7 7 RESV_7
MountingHole RESV_7 RESV_7
330R BLUE 6 GND
6 GND GND
H4 6 GND 6 GND GND
FPGA_LED_B GND GND
MountingHole

GND
GND
GND GND
G G

U30 +3V3
U22 +3V3
U6 +3V3 U14 +3V3 ICM-42688-P
ICM-42688-P
ICM-42688-P ICM-42688-P
8
8 VDD
8 8 VDD 5
VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
12 2
12 2 IMU_CS AP_CS RESV_2
12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C85 C93 C101
IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C61 C69 C77 IMU_SCLK AP_SCL/AP_SCLK RESV_3
13 3 C13 C21 C29 13 3 C37 C45 C53 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO30 AP_SDO/AP_AD0 RESV_11
1 11 1 11 IMU_MISO22 AP_SDO/AP_AD0 RESV_11 7
IMU_MISO6 AP_SDO/AP_AD0 RESV_11 IMU_MISO14 AP_SDO/AP_AD0 RESV_11 7 RESV_7
7 7 RESV_7
RESV_7 RESV_7
6 GND
6 GND GND
6 GND 6 GND GND
GND GND
H H
GND
GND
GND GND

U31 +3V3
U23 +3V3
U7 +3V3 U15 +3V3 ICM-42688-P
ICM-42688-P
ICM-42688-P ICM-42688-P
8
8 VDD
8 8 VDD 5
VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT
12 2
12 2 IMU_CS AP_CS RESV_2
12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C86 C94 C102
IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C62 C70 C78 IMU_SCLK AP_SCL/AP_SCLK RESV_3
13 3 C14 C22 C30 13 3 C38 C46 C54 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10
14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO31 AP_SDO/AP_AD0 RESV_11
1 11 1 11 IMU_MISO23 AP_SDO/AP_AD0 RESV_11 7
IMU_MISO7 AP_SDO/AP_AD0 RESV_11 IMU_MISO15 AP_SDO/AP_AD0 RESV_11 7 RESV_7
7 7 RESV_7
I RESV_7 RESV_7 I
6 GND
6 GND GND
6 GND 6 GND GND
GND GND

GND
GND
GND GND

U32 +3V3
U24 +3V3
U8 +3V3 U16 +3V3 ICM-42688-P
ICM-42688-P
ICM-42688-P ICM-42688-P
8
8 VDD
8 8 VDD 5
VDD VDD 5 VDDIO +3V3
5 5 VDDIO +3V3
VDDIO +3V3 VDDIO +3V3
9 4
9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
9 4 9 4 FSYNC INT2/FSYNC/CLKIN INT1/INT
FSYNC INT2/FSYNC/CLKIN INT1/INT FSYNC INT2/FSYNC/CLKIN INT1/INT IMU1_INT
12 2
12 2 IMU_CS AP_CS RESV_2
12 2 12 2 IMU_CS AP_CS RESV_2 13 3 C87 C95 C103
IMU_CS AP_CS RESV_2 IMU_CS AP_CS RESV_2 13 3 C63 C71 C79 IMU_SCLK AP_SCL/AP_SCLK RESV_3
13 3 C15 C23 C31 13 3 C39 C47 C55 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF
J IMU_SCLK AP_SCL/AP_SCLK RESV_3 IMU_SCLK AP_SCL/AP_SCLK RESV_3 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 J
14 10 100n 10nF 2.2uF 14 10 100n 10nF 2.2uF IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11
IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 IMU_MOSI AP_SDA/AP_SDIO/AP_SDI RESV_10 1 11 IMU_MISO32 AP_SDO/AP_AD0 RESV_11
1 11 1 11 IMU_MISO24 AP_SDO/AP_AD0 RESV_11 7
IMU_MISO8 AP_SDO/AP_AD0 RESV_11 IMU_MISO16 AP_SDO/AP_AD0 RESV_11 7 RESV_7
7 7 RESV_7
RESV_7 RESV_7
6 GND
6 GND GND
6 GND 6 GND GND
GND GND

GND
GND
GND GND

K K

Designed by Will Whang

Sheet: /
File: IMUArray_SensorBoard.kicad_sch
Title: IMU Array Sensor Board
Size: A1 Date: 2024-07-28 Rev: ver 1.0
KiCad E.D.A. kicad (6.0.9) Id: 1/1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16