Hardware
Charging Station (Base Station)
Model: N1000 (TÜV rapport CN23XAMH 001)
Serial: LFIC1230700XXX
PCB text: "LFi Charging Station 20230228", "Little Little World, Big Big Novabot"
| Component |
Type |
Details |
| MCU |
ESP32-S3-WROOM (QFN56 rev v0.2) |
Dual Core + LP Core, 240MHz, 2MB PSRAM |
| Flash |
8MB SPI (GigaDevice GD25Q64) |
Manufacturer 0xC8, Device 0x4017 |
| GPS/RTK |
UM960 |
Top-right on PCB, with SMA antenna |
| LoRa |
EBYTE E32/E22 series |
SMA antenna, UART1 (TX=GPIO17, RX=GPIO18) |
| UART |
Header "UART0" on PCB |
Pins: 3V3, RX, TX, GND (115200 baud) |
| Power |
DC24-30V |
Via connector at top of PCB |
MAC Address Allocation
| Interface |
MAC |
Offset |
| WiFi STA |
48:27:E2:1B:A4:08 |
Base (BLE - 2) |
| WiFi AP |
48:27:E2:1B:A4:09 |
Base - 1 |
| BLE |
48:27:E2:1B:A4:0A |
Base |
BLE Advertisement
- Name:
CHARGER_PILE
- Manufacturer data (0xFF):
66 55 48 27 E2 1B A4 0A 45 53 50
66 55 = Company ID 0x5566 (ESP)48:27:E2:1B:A4:0A = BLE MAC45 53 50 = "ESP" (ASCII)
Robot Mower
Model: N2000 (TÜV rapport CN23XAMH 001)
Serial: LFIN2230700XXX
PCB text: "LFI NOVABOT X3A BOARD VerC PLUS" (2023-02-11)
The mower has two PCBs:
X3A Board (Computing)
| Component |
Type |
Details |
| SoC |
Horizon Robotics X3 (Sunrise X3) |
ARM Cortex-A53 quad-core + BPU AI accelerator |
| SoM |
X3 System-on-Module |
Plug-in module with gold edge connector |
| WiFi/BLE |
AP6212 (AMPAK/Broadcom BCM43438) |
2.4GHz WiFi + BLE 4.2, PCB antenna via U.FL |
| OS |
Ubuntu/Debian (ARM64) |
ROS 2 Galactic, runs as root |
| UART |
Header top-left: GND / TX / RX / 3V3 |
Serial console, 115200 baud |
| HDMI |
Micro-HDMI (bottom PCB) |
Labeled "DEBUG" |
| USB |
USB 3.0 port (bottom PCB) |
For keyboard, ethernet adapter, or storage |
| Power |
DC12V barrel jack |
|
| Camera 1 |
FPC "RGB CAMERA" (J23) |
MIPI CSI-2 → Sony IMX307 front camera |
| Camera 2 |
FPC "TOF+RGB SENSOR" (J25) |
Combined ToF + panoramic RGB |
| Camera 3 |
FPC "TOF" |
PMD Royale ToF depth camera |
Motor Board (Drive + RF)
| Component |
Type |
Details |
| MCU |
STM32F407 |
Motor/chassis control (fw: novabot_stm32f407_v3_5_8) |
| GPS |
GPS Module (with shielding) |
Top-right on PCB |
| LoRa |
LoRa Receiver Module |
SMA antenna connector |
| Relays |
2x blue relays |
Motor drive |
| Connectors |
Red JST headers |
Motors, sensors, power |
MAC Address Allocation
| Interface |
MAC |
Offset |
| WiFi STA |
50:41:1C:39:BD:BF |
Base (BLE - 2) |
| WiFi AP |
50:41:1C:39:BD:C0 |
Base - 1 |
| BLE |
50:41:1C:39:BD:C1 |
Base |
BLE Advertisement
- Name:
Novabot (or NOVABOT in provisioning mode)
- Manufacturer data (0xFF):
66 55 50 41 1C 39 BD C1
66 55 = Company ID 0x5566 (ESP)50:41:1C:39:BD:C1 = BLE MAC
Physical Debug Ports
| Port |
Location |
Status |
Use |
| UART (GND/TX/RX/3V3) |
X3A board, top-left |
Available |
Root shell, 115200 baud |
| Micro-HDMI "DEBUG" |
X3A board, bottom-right |
Available |
Linux console output |
| USB 3.0 |
X3A board, bottom-left |
Available |
Keyboard, USB-ethernet, storage |
IP56 Waterproofing
The mower is IP56 waterproof. Open carefully to avoid damaging rubber gaskets/O-rings.