910 AR Chip

910 : AR Chip

Design render

How it works

This project is an experimental controller for an autonomous robot, enabling sensor communication and path tracking.

How to test

Connect the external sensors as specified in the pinout. Connect the gyro via I2C at 100 kHz and UART at 9600 baud. Then power on and set robot_enable to 1.

External hardware

Connect the gyro sensor to I2C SDA and SCL.
Connect the proximity sensor to echo_rx and trig_tx.

IO

#InputOutputBidirectional
0Enableuart_txsda_master
1A1scl_mastermotor_driver_STBY
2B1trig_txpwm_out_rightmotor
3echo_rxmux_sensor_select[0]pwm_out_leftmotor
4mux_sensor_select[1]direction_rightmotor_1
5mux_sensor_select[2]direction_rightmotor_2
6mux_sensor_select[3]direction_leftmotor_1
7uart_rxtarget_reacheddirection_leftmotor_2

Chip location

Controller Mux Mux Mux Mux Mux Mux Mux Mux Mux Analog Mux Mux Mux Mux Mux Mux Mux Mux Mux Mux Analog Mux Mux Mux Mux Analog Mux Mux Mux Mux Mux Mux tt_um_chip_rom (Chip ROM) tt_um_factory_test (Tiny Tapeout Factory Test) tt_um_oscillating_bones (Oscillating Bones) tt_um_rebelmike_incrementer (Incrementer) tt_um_rebeccargb_tt09ball_gdsart (TT09Ball GDS Art) tt_um_tt_tinyQV (TinyQV 'Asteroids' - Crowdsourced Risc-V SoC) tt_um_DalinEM_asic_1 (ASIC) tt_um_urish_simon (Simon Says memory game) tt_um_rburt16_bias_generator (Bias Generator) tt_um_librelane3_test (Tiny Tapeout LibreLane 3 Test) tt_um_10_vga_crossyroad (Crossyroad) tt_um_rebeccargb_universal_decoder (Universal Binary to Segment Decoder) tt_um_rebeccargb_hardware_utf8 (Hardware UTF Encoder/Decoder) tt_um_rebeccargb_intercal_alu (INTERCAL ALU) tt_um_rebeccargb_dipped (Densely Packed Decimal) tt_um_rebeccargb_styler (Styler) tt_um_rebeccargb_vga_timing_experiments (VGA Timing Experiments) tt_um_rebeccargb_colorbars (Color Bars) tt_um_rebeccargb_vga_pride (VGA Pride) tt_um_cw_vref (Current-Mode Bandgap Reference) tt_um_tinytapeout_logo_screensaver (VGA Screensaver with Tiny Tapeout Logo) tt_um_rburt16_opamp_3stage (OpAmp 3stage) tt_um_gamepad_pmod_demo (Gamepad Pmod Demo) tt_um_micro_tiles_container (Micro tile container) tt_um_virantha_enigma (Enigma - 52-bit Key Length) tt_um_jamesrosssharp_1bitam (1bit_am_sdr) tt_um_jamesrosssharp_tiny1bitam (Tiny 1-bit AM Radio) tt_um_MichaelBell_rle_vga (RLE Video Player) tt_um_MichaelBell_mandelbrot (VGA Mandelbrot) tt_um_murmann_group (Decimation Filter for Incremental and Regular Delta-Sigma Modulators) tt_um_betz_morse_keyer (Morse Code Keyer) tt_um_urish_giant_ringosc (Giant Ring Oscillator (3853 inverters)) tt_um_tiny_pll (Tiny PLL) tt_um_tc503_countdown_timer (Countdown Timer) tt_um_richardgonzalez_ped_traff_light (Pedestrian Traffic Light) tt_um_analog_factory_test (TT08 Analog Factory Test) tt_um_alexandercoabad_mixedsignal (mixedsignal) tt_um_tgrillz_sixSidedDie (Six Sided Die) tt_um_mattvenn_analog_ring_osc (Ring Oscillators) tt_um_vga_clock (VGA clock) tt_um_mattvenn_r2r_dac_3v3 (Analog 8 bit 3.3v R2R DAC) tt_um_mattvenn_spi_test (SPI test) tt_um_quarren42_demoscene_top (asic design is my passion) tt_um_micro_tiles_container_group2 (Micro tile container (group 2)) tt_um_z2a_rgb_mixer (RGB Mixer demo) tt_um_frequency_counter (Frequency counter) tt_um_urish_sic1 (SIC-1 8-bit SUBLEQ Single Instruction Computer) tt_um_tobi_mckellar_top (Capacitive Touch Sensor) tt_um_log_afpm (16-bit Logarithmic Approximate Floating Point Multiplier) tt_um_uwasic_dinogame (UW ASIC - Optimized Dino) tt_um_ece298a_8_bit_cpu_top (8-Bit CPU) tt_um_tqv_peripheral_harness (Rotary Encoder Peripheral) tt_um_led_matrix_driver (SPI LED Matrix Driver) tt_um_2048_vga_game (2048 sliding tile puzzle game (VGA)) tt_um_mac (MAC) tt_um_dpmunit (DPM_Unit) tt_um_nitelich_riscyjr (RISCY Jr.) tt_um_nitelich_conway (Conway's GoL) tt_um_pwen (Pulse Width Encoder) tt_um_mcs4_cpu (MCS-4 4004 CPU) tt_um_mbist (Design of SRAM BIST) tt_um_weighted_majority (Weighted Majority Voter / Trend Detector) tt_um_brandonramos_VGA_Pong_with_NES_Controllers (VGA Pong with NES Controllers) tt_um_brandonramos_opamp_ladder (2-bit Flash ADC) tt_um_NE567Mixer28 (OTA folded cascode) tt_um_acidonitroso_programmable_threshold_voltage_sensor (Programmable threshold voltage sensor) tt_um_DAC1 (tt_um_DAC1) tt_um_trivium_stream_processor (Trivium Stream Cipher) tt_um_analog_example (Digital OTA) tt_um_sortaALUAriaMitra (Sorta 4-Bit ALU) tt_um_RoyTr16 (Connect Four VGA) tt_um_jnw_wulffern (JNW-TEMP) tt_um_serdes (Secure SERDES with Integrated FIR Filtering) tt_um_limpix31_r0 (VGA Human Reaction Meter) tt_um_torurstrom_async_lock (Asynchronous Locking Unit) tt_um_galaguna_PostSys (Post's Machine CPU Based) tt_um_edwintorok (Rounding error) tt_um_td4 (tt-td04) tt_um_snn (Reward implemented Spiking Neural Network) tt_um_matrag_chirp_top (Tiny Tapeout Chirp Modulator) tt_um_sha256_processor_dvirdc (SHA-256 Processor) tt_um_pchri03_levenshtein (Fuzzy Search Engine) tt_um_AriaMitraClock (12 Hour Clock (with AM and PM)) tt_um_swangust (posit8_add) tt_um_DelosReyesJordan_HDL (Reaction Time Test) tt_um_upalermo_simple_analog_circuit (Simple Analog Circuit) tt_um_swangust2 (posit8_mul) tt_um_thexeno_rgbw_controller (RGBW Color Processor) tt_um_top_layer (Spike Detection and Classification System) tt_um_Alida_DutyCycleMeter (Duty Cycle Meter) tt_um_dco (Digitally Controlled Oscillator) tt_um_8bitalu (8-bit Pipelined ALU) tt_um_resfuzzy (resfuzzy) tt_um_javibajocero_top (MarcoPolo) tt_um_Scimia_oscillator_tester (Oscillator tester) tt_um_ag_priority_encoder_parity_checker (Priority Encoder with Parity Checker) tt_um_tnt_mosbius (tnt's variant of SKY130 mini-MOSbius) tt_um_program_counter_top_level (Test Design 1) tt_um_subdiduntil2_mixed_signal_classifier (Mixed-signal Classifier) tt_um_dac_test3v3 (Analog 8 bit 3.3v R2R DAC) tt_um_LPCAS_TP1 ( LPCAS_TP1 ) tt_um_regfield (Register Field) tt_um_delaychain (Delay Chain) tt_um_tdctest_container (Micro tile container) tt_um_spacewar (Spacewar) tt_um_Enhanced_pll (Enhance PLL) tt_um_romless_cordic_engine (ROM-less Cordic Engine) tt_um_ev_motor_control (PLC Based Electric Vehicle Motor Control System) tt_um_plc_prg (PLC-PRG) tt_um_kishorenetheti_tt16_mips (8-bit MIPS Single Cycle Processor) tt_um_snn_core (Adaptive Leaky Integrate-and-Fire spiking neuron core for edge AI) tt_um_myprocessor (8-bit Custom Processor) tt_um_sjsu (SJSU vga demo) tt_um_vedic_4x4 (Vedic 4x4 Multiplier) tt_um_braun_mult (8x8 Braun Array Multiplier) tt_um_r2r_dac (4-bit R2R DAC) tt_um_stochastic_integrator_tt9_CL123abc (Stochastic Integrator) tt_um_uart (UART Controller with FIFO and Interrupts) tt_um_lfsr_stevej (Linear Feedback Shift Register) tt_um_FFT_engine (FFT Engine) tt_um_tpu (Tiny Tapeout Tensor Processing Unit) tt_um_tt_tinyQVb (TinyQV 'Berzerk' - Crowdsourced Risc-V SoC) tt_um_IZ_RG_22 (IZ_RG_22) tt_um_32_bit_fp_ALU_S_M (32-bit floating point ALU) tt_um_AriaMitraGames (Games (Tic Tac Toe and Rock Paper Scissors)) tt_um_sc_bipolar_qif_neuron (Stochastic Computing based QIF model neuron) tt_um_mac_spst_tiny (Low Power and Enhanced Speed Multiplier, Accumulator with SPST Adder) tt_um_kb2ghz_xalu (4-bit minicomputer ALU) tt_um_emmersonv_tiq_adc (3 Bit TIQ ADC) tt_um_simonsays (Simon Says) tt_um_BNN (8-bit Binary Neural Network) tt_um_anweiteck_2stageCMOSOpAmp (2 Stage CMOS Op Amp) tt_um_6502 (Simplified 6502 Processor) tt_um_swangust3 (posit8_div) tt_um_jonathan_thing_vga (VGA-Video-Player) tt_um_wokwi_412635532198550529 (ttsky-pettit-wokproc-trainer) tt_um_vga_hello_world (VGA HELLO WORLD) tt_um_jyblue1001_pll (Analog PLL) tt_um_BryanKuang_mac_peripheral (8-bit Multiply-Accumulate (MAC) with 2-Cycle Serial Interface) tt_um_rebeccargb_tt09ball_screensaver (TT09Ball VGA Screensaver) tt_um_openfpga22 (Open FGPA 2x2 design) tt_um_andyshor_demux (Demux) tt_um_flash_raid_controller (SPI flash raid controller) tt_um_jonnor_pdm_microphone (PDM microphone) tt_um_digital_playground (Sky130 Digital Playground) tt_um_mod6_counter (Mod-6 Counter) tt_um_BMSCE_T2 (Choreo8) tt_um_Richard28277 (4-bit ALU) tt_um_shuangyu_top (Calculator) tt_um_wokwi_441382314812372993 (Sumador/restador de 4 bits) tt_um_TensorFlowE (TensorFlowE) tt_um_wokwi_441378095886546945 (7SDSC) tt_um_wokwi_440004235377529857 (Latched 4-bits adder) tt_um_dlmiles_tqvph_i2c (TinyQV I2C Controller Device) tt_um_markgarnold_pdp8 (Serial PDP8) tt_um_wokwi_441564414591667201 (tt-parity-detector) tt_um_vga_glyph_mode (VGA Glyph Mode) tt_um_toivoh_pwl_synth (PiecewiseOrionSynth Deluxe) tt_um_minirisc (MiniRISC-FSM) tt_um_wokwi_438920793944579073 (Multiple digital design structures) tt_um_sleepwell (Sleep Well) tt_um_lcd_controller_Andres078 (LCD_controller) tt_um_SummerTT_HDL (SJSU Summer Project: Game of Life) tt_um_chrishtet_LIF (Leaky Integrate and Fire Neuron) tt_um_diff (ttsky25_EpitaXC) tt_um_htfab_split_flops (Split Flops) tt_um_alu_4bit_wrapper (4-bit ALU with Flags) tt_um_tnt_rf_test (TTSKY25A Register File Test) tt_um_mosbius (mini mosbius) tt_um_robot_controller_top_module (AR Chip) tt_um_flummer_ltc (Linear Timecode (LTC) generator) tt_um_stress_sensor (Tiny_Tapeout_2025_three_sensors) tt_um_krisjdev_manchester_baby (Manchester Baby) tt_um_mbikovitsky_audio_player (Simple audio player) tt_um_wokwi_414123795172381697 (TinySnake) tt_um_vga_example (Jabulani Ball VGA Demo ) tt_um_stochastic_addmultiply_CL123abc (Stochastic Multiplier, Adder and Self-Multiplier) tt_um_nvious_graphics (nVious Graphics) tt_um_pe_simonbju (pe) tt_um_mikael (TinyTestOut) tt_um_brent_kung (brent-kung_4) tt_um_7FM_ShadyPong (ShadyPong) tt_um_algofoogle_vga_matrix_dac (Analog VGA CSDAC experiments) tt_um_tv_b_gone (TV-B-Gone) tt_um_sjsu_vga_music (SJSU Fight Song) tt_um_fsm_haz (FSM based RISC-V Pipeline Hazard Resolver) tt_um_dma (DMA controller) tt_um_3v_inverter_SiliconeGuide (Analog Double Inverter) tt_um_rejunity_lgn_mnist (LGN hand-written digit classifier (MNIST, 16x16 pixels)) tt_um_gray_sobel (Gray scale and Sobel filter for Edge Detection) tt_um_Xgamer1999_LIF (Demonstration of Leaky integrate and Fire neuron SJSU) tt_um_dac12 (12 bit DAC) tt_um_voting_machine (Digital Voting Machine) tt_um_updown_counter (8bit_up-down_counter) tt_um_openram_top (Single Port OpenRAM Testchip) tt_um_customalu (Custom ALU) tt_um_assaify_mssf_pll (24 MHz MSSF PLL) tt_um_Maj_opamp (2-Stage OpAmp Design) tt_um_wokwi_442131619043064833 (Encoder 7 segments display) tt_um_wokwi_441835796137492481 (TESVG Binary Counter and shif register ) tt_um_combo_haz (Combinational Logic Based RISC-V Pipeline Hazard Resolver) tt_um_tx_fsm (Design and Functional Verification of Error-Correcting FIFO Buffer with SECDED and ARQ ) tt_um_will_keen_solitaire (solitaire) tt_um_rom_vga_screensaver (VGA Screensaver with embedded bitmap ROM) tt_um_13hihi31_tdc (Time to Digital Converter) tt_um_dteal_awg (Arbitrary Waveform Generator) tt_um_LIF_neuron (AFM_LIF) tt_um_rebelmike_register (Circulating register test) tt_um_MichaelBell_hs_mul (8b10b decoder and multiplier) tt_um_SNPU (random_latch) tt_um_rejunity_atari2600 (Atari 2600) tt_um_bit_serial_cpu_top (16-bit bit-serial CPU) tt_um_semaforo (semaforo) tt_um_bleeptrack_cc1 (Cross stitch Creatures #1) tt_um_bleeptrack_cc2 (Cross stitch Creatures #2) tt_um_bleeptrack_cc3 (Cross stitch Creatures #3) tt_um_bleeptrack_cc4 (Cross stitch Creatures #4) tt_um_bitty (Bitty) tt_um_spi2ws2811x16 (spi2ws2811x8) tt_um_uart_spi (UART and SPI Communication blocks with loopback) tt_um_urish_charge_pump (Dickson Charge Pump) tt_um_adc_dac_tern_alu (adc_dac_BCT_addr_ALU_STI) tt_um_sky1 (GD Sky Processor) tt_um_fifo (ASYNCHRONOUS FIFO) tt_um_TT16 (Asynchronous FIFO) tt_um_axi4lite_top (Axi4_Lite) tt_um_TT06_pwm (PWM Generator) tt_um_hack_cpu (HACK CPU) tt_um_marxkar_jtag (JTAG CONTROLLER) tt_um_cache_controller (Simple Cache Controller) tt_um_stopwatchtop (Stopwatch with 7-seg Display) tt_um_adpll (all-digital pll) tt_um_tnt_rom_test (TT09 SKY130 ROM Test) tt_um_tnt_rom_nolvt_test (TT09 SKY130 ROM Test (no LVT variant)) tt_um_wokwi_414120207283716097 (fulladder) tt_um_kianV_rv32ima_uLinux_SoC (KianV uLinux SoC) tt_um_tv_b_gone_rom (TV-B-Gone-EU) Available Available Available Available Available Available Available Available Available Available Available Available Available