Editing Openai/68968bbe-7ac0-800c-a9fc-d549ee19dbcd (section)

=== Hardware suggestions ===
* Reverse-polarity & surge: You explicitly warn there’s no reverse-polarity protection. Add an ideal-diode FET stage (e.g., back-to-back N-MOSFET) + input TVS + resettable fuse. Helpful if someone hot-plugs a 6S pack. GitHub<ref>{{cite web|title=GitHub|url=https://github.com/hansj66/overlord/|publisher=github.com|access-date=2025-11-15}}</ref>
* Inrush limiting: A simple NTC or e-fuse (hot-swap IC) will spare the 5V buck from battery/cap slam when CM5 is cold.
* CAN robustness: Add a little CAN hygiene: - sw/jumper-selectable 120 Ω termination on-board, - TVS diodes and a common-mode choke near the TJA1051, - optional galvanic isolation BOM variant (e.g., ISO1042) for long robots / mixed grounds.
* Dynamixel line protection: Series resistors + ESD diodes on the half-duplex UART, plus a jumper to select 5 V vs external bus power (and a polyfuse on 5 V).
* Power rail telemetry: Tiny ADC or supervisor (battery V, 5 V rail, IMU VDD) → log brownouts under load.
* External watchdog: CM5 + Linux can hang; consider a windowed watchdog (e.g., TPS343x) kicked by a GPIO.
* Fan control: Since you’ve got a cooler header, consider PWM fan control tied to SoC temp + a MOSFET so the CM5 can cut the fan.
* Connector UX: Silkscreen pin names and voltage at each header, plus a one-page wiring diagram in the repo PDF set.
* BNO055: You already note BNO055—great chip but NRND. Add a second board variant (or footprints) for e.g. ICM-42688 + external fusion (Madgwick/EKF) or a BHI260AP. Keeps the design future-proof. hackaday.io<ref>{{cite web|title=hackaday.io|url=https://hackaday.io/project/202283-cm5-cybergear-and-dynamixel-controller|publisher=hackaday.io|access-date=2025-11-15}}</ref>