.. toctree::
   :glob:

Hardware Setup
###############

A4MCAR is featured with two controllers: (1)- High-level controller controller that is equipped with a `Raspberry Pi <http://www.raspberrypi.org>`_, with applications ported to Raspbian OS on ARM Cortex A53 processor, and (2)- Low-level controller based on an `XMOS xCORE-200 ExplorerKIT development kit <http://www.xmos.com>`_ that is equipped with a 16-core microcontroller.

.. figure:: ../a4mcarstatic/img/boards.jpg
   :width: 80%
   :alt: Development boards used in A4MCAR
   :figclass: align-center
   :align: center

   Development boards used in A4MCAR

Development boards in A4MCAR are interfaced with many peripherals for different purposes. A brief look of how devices are interfaced and low-level schematics are given below for reference.

.. figure:: ../a4mcarstatic/img/hwoverview.png
   :width: 80%
   :alt: Hardware overview of A4MCAR
   :figclass: align-center
   :align: center

   Hardware overview of A4MCAR

.. figure:: ../a4mcarstatic/img/RCCAR_Schematics.png
   :width: 100%
   :alt: A4MCAR Low-Level Schematics
   :figclass: align-center
   :align: center

   A4MCAR Low-level Schematics (Click to Enlarge)