Difference between revisions of "Apogee/v1.00"

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* work in progress for use within paparazzi
* work in progress for use within paparazzi
* usable as datalogger with non paparazzi firmware
* usable as datalogger with non paparazzi firmware (not yet published, available on demand)


=== 6 or 9 DOF IMU ===
=== 6 or 9 DOF IMU ===

Revision as of 05:54, 24 July 2013

Apogee v1.00 bottom side Apogee v1.00 top side

Overview

  • STMicroelectronics STM32F405 MCU based
  • 9(6) DOF integrated IMU MPU-9150(6050) based
  • 1 x Barometer/altimeter MPL3115A2 (I2C, MPU slave capability)
  • 1 x MicroSD card slot, 4 bit SDIO interface (high speed data logging)
  • 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card)
  • 6 x Servo PWM outputs
  • 1 x R/C receiver PPM frame input
  • 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
  • 3 x UART
  • 2 x I2C bus
  • 1 x SPI bus
  • RTC with backup capacitor
  • SWD(ARM download/debug interface)
  • 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM)
  • 5v / 1.5A switching power supply (input voltage range 5.5V min → 17.0v max)
  • 3.3v / 1A linear regulator
  • 1 x 5v / 500mA power switch
  • 4 x status LEDs
  • ?? grams (?? oz)
  • 53 x 25mm (2.1" x 0.98"), shares the same external dimensions and mounting points as UmarimLite
  • 4 layers PCB design

Hardware Revision History

Version # Release Date Release Notes
v1.00 07/2013 Initial release of Apogee


Detailed Features

SDIO (MicroSD card)

  • work in progress for use within paparazzi
  • usable as datalogger with non paparazzi firmware (not yet published, available on demand)

6 or 9 DOF IMU

USB Modes

SWD: Serial Wire Debug

R/C Serial

Real Time Clock

Power Switch

Pinout

Pins Name and Type are specified with respect to the Autopilot Board

Apogee v100 pinout.png

SRV0/1/2/3/4/5
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 SRVx OUT Servo signal (PWM) White


R/C
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5v PWR 5V Rail from autopilot Orange
3 PPM in IN PPM Stream from R/C Receiver (5V tolerant) White
4 RX2 IN UART2 Serial Input (5V Tolerant), reversible Green


UART1/4/6
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 +3.3V PWR 3.3V Rail from autopilot Red
4 RX1/4/6 IN UART1/4/6 Serial Input (3.3V level, 5V Tolerant) Green
5 TX1/4/6 OUT UART1/4/6 Serial Output (3.3V level) Blue


I2C1/2
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 +3.3V PWR 3.3V Rail from autopilot Red
4 SDA1/2 Open Drain I/O
(1.5k pull-up)
I2C1/2 bus Serial DAta Brown
5 SCL1/2 Open Drain I/O
(1.5k pull-up)
I2C1/2 bus Serial CLock Blue


USB
Pin # Name Type Description Color
1 GND PWR common ground Black
2 USB+ I/O USB bidirectional D+ line Green
3 USB- I/O USB bidirectional D- line White
4 VBUS IN Indicates the presence of USB bus power (5V level), DFU or USB storage Mode selection Orange

Note: MiniUSB and Molex USB connectors are in parallel, only one can be connected at a time.


SPI1
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 +3.3V PWR 3.3V Rail from autopilot Red
4 CS1 OUT Slave Select. Selects the SPI slave Brown
5 MOSI1 I/O SPI1 Master Out Slave In. Data output from master / data input to slave Grey
6 MISO1 I/O SPI1 Master In Slave Out. Data input to master / data output from slave Green
7 SCK1 I/O SPI1 Serial clock. Clock output from master or input to slave Yellow


AUX
Pin # Name Type Port Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 +3.3V PWR 3.3V Rail from autopilot Red
4 AUX1 I/O PB1 General Purpose I/O #1 or ADC_1 Input or PWM6
5 AUX2 I/O PC5 General Purpose I/O #2 or ADC_2 Input
6 AUX3 I/O PC4 General Purpose I/O #3 or ADC_3 Input
7 AUX4 I/O PB15 General Purpose I/O #4


SWD
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 RST IN MCU Reset White
4 SWCLK IN Serial Wire Clock Blue
6 SWDIO I/O Serial Wire Data Input/Output Brown

Schematic

Apogee v1.00 Schematic


Examples of Airborne Equipment Electrical Connections

Small Aircraft Connection Diagram

soon...

Large Aircraft Connection Diagram

soon...

PCB

Gerber & Drill Files

Assembly

Components Layout

Bill Of Material

PCB and assembled boards suppliers

Check availability on Get Hardware page

Mechanical Dimensions

Apogee v1.00 Top Mechanical Dimensions Apogee v1.00 Side Mechanical Dimensions

Programming

Apogee autopilot can reprogrammed in two different ways:

  • using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
    • required hardware : usb cable with usb-mini connector
    • required software : dfu_util tool (present in ubuntu repository)
  • using the SWD (Serial Wire Debug) connector
    • required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
    • required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

Source code

Available in latest git master branch