Sensor Host Board

The sensor host board is another board part of the VEXU GHOST sensory system, and it is a communication host bridging the sensor data acquisition between the sensor deployment boards and the Jetson Orin Nano which processes our sensor data to run autonomous operations. I collaborated with other members of the GHOST hardware team to incorporate the differntial I2C and daisy-chaining communication architecture into the host board, utilizing PCA9615 for differential pairing and buffering of the I2C buses and an RP2040 to acquire and process the raw sensor data in real-time. I designed the layout for iteration two in KiCad with improved differential pair routing, larger ground plane for improved return current paths, better component placement, a more compact form factor with the change from RJ12 connectors to JST GH conenctors, and new testing point pins for easier debugging and validation of the board.