Difference between revisions of "Krooz"

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<div style="float: right; width: 25%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
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<div style="float: right; width: 50%">[[Image:Wiki-pprz3.png|right|300px|Nice Picture of the Autopilot]]</div>
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|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
|}
<div style="float: right; width: 45%">[[Image:Krooz_top.jpg|right|550px|The Krooz Autopilot]]</div>
__TOC__
__TOC__


= Overview =
= Overview =
'''Krooz''' autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.
'''Krooz''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.
== Description ==


== Features ==
<List of main board advantages and components>
== Features ==
== Features ==


'''Krooz''' is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
'''Krooz''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.


* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* [http://www.google.de/url?sa=t&rct=j&q=mpu6050&source=web&cd=1&cad=rja&sqi=2&ved=0CCIQFjAA&url=http%3A%2F%2Fwww.invensense.com%2Fmems%2Fgyro%2Fmpu6050.html&ei=6b91UOfSO8rLsgau2YDQCg&usg=AFQjCNEhlm4F_vWyavE707bN2IH3I6KmqQ MPU6050 Gyro/Accelerometer sensor]
* [http://www.google.de/url?sa=t&rct=j&q=mpu6050&source=web&cd=1&cad=rja&sqi=2&ved=0CCIQFjAA&url=http%3A%2F%2Fwww.invensense.com%2Fmems%2Fgyro%2Fmpu6050.html&ei=6b91UOfSO8rLsgau2YDQCg&usg=AFQjCNEhlm4F_vWyavE707bN2IH3I6KmqQ MPU6050 Gyro/Accelerometer sensor]
* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2885&param=en547232 MRF24WB0 WiFi] or [http://www.google.de/url?sa=t&rct=j&q=btm222%20datasheet&source=web&cd=1&cad=rja&sqi=2&ved=0CCIQFjAA&url=http%3A%2F%2Fwww.taiwantrade.com.tw%2Fresources%2Fmember%2F276716%2Fproductcatalog%2Fb9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%2520DataSheet.pdf&ei=l751UNP4HsbKsgbb-YCoAw&usg=AFQjCNE09iMft0RKR0all48WDeCEMsj-aQ BTM-222] Bluetooth (wire or external antenna connector) module on board.
* [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2885&param=en547232 MRF24WB0 WiFi] or  
* [http://www.google.de/url?sa=t&rct=j&q=ms5611&source=web&cd=1&cad=rja&ved=0CCIQFjAA&url=http%3A%2F%2Fwww.meas-spec.com%2Fdownloads%2Fms5611-01ba01.pdf&ei=Kr91ULD3M5HHtAaGlIH4CQ&usg=AFQjCNEIfQ5M8xioGiMVG7hDZHNSoCGUoA MS5611]Pressure sensor  
* [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth (wire or external antenna connector) or
* [http://www.google.de/url?sa=t&rct=j&q=max7456&source=web&cd=2&cad=rja&ved=0CCoQFjAB&url=http%3A%2F%2Fdatasheets.maximintegrated.com%2Fen%2Fds%2FMAX7456.pdf&ei=dL91ULvJHsaQswaFuYHQDw&usg=AFQjCNEc2hns2z3VpBuBnwQYKBlhHSfZ2A MAX7456] OSD module
* [http://www.google.de/url?sa=t&rct=j&q=xbee%20pro%20datasheet&source=web&cd=3&cad=rja&ved=0CEEQFjAC&url=ftp%3A%2F%2Fftp1.digi.com%2Fsupport%2Fdocumentation%2F90000976_C.pdf&ei=-be_UJuiMc7asgabwoDACw&usg=AFQjCNFOIA9bql08JSjYPDyclJCTizPINw XBee Pro] module on board.
* [http://www.google.de/url?sa=t&rct=j&q=ms5611&source=web&cd=1&cad=rja&ved=0CCIQFjAA&url=http%3A%2F%2Fwww.meas-spec.com%2Fdownloads%2Fms5611-01ba01.pdf&ei=Kr91ULD3M5HHtAaGlIH4CQ&usg=AFQjCNEIfQ5M8xioGiMVG7hDZHNSoCGUoA MS5611] high precision Pressure sensor
* [http://www.google.de/url?sa=t&rct=j&q=max7456&source=web&cd=2&cad=rja&ved=0CCoQFjAB&url=http%3A%2F%2Fdatasheets.maximintegrated.com%2Fen%2Fds%2FMAX7456.pdf&ei=dL91ULvJHsaQswaFuYHQDw&usg=AFQjCNEc2hns2z3VpBuBnwQYKBlhHSfZ2A MAX7456] OSD module for mixing in a flight data into a camera video screen
* 7 x Analog input channels
* 7 x Analog input channels
* 4 x 3.3V TTL UART (5V tolerant)
* 4 x 3.3V TTL UART (5V tolerant)
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* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x Micro USB
* 1 x Micro USB
* Extra camera control connector
* Extra camera control 3 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 35V (8S LiPo) input power control unit
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== Usage scenarios ==
== Usage scenarios ==
<Description of possible board usages, i.e. airplane autopilot, copter control board, stabilization system, etc.>
Krooz can be used in different telemetry versions:
* with the on-board [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2885&param=en547232 MRF24WB0 WiFi] module
[[Image:Krooz_bottom_wifi.jpg|300px|]]
* with the on-board [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth module
[[Image:Krooz_bottom_bluetooth.jpg|300px|]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.


= Hardware design =
= Hardware design =
== Architecture ==
<General board roadmap and highlights>
== Schematics ==
=== Electrical ===
<Electrical component connection drawings>
=== PCB files ===
<PCB schematic drawings, Gerber and Drill files, links to SVN/GIT sources>
== Pinout ==
== Pinout ==
<Description of available board connections>
[[File:Krooz_top_ports.jpg|300px]][[File:Krooz_bottom_bt_ports.jpg|300px]]
== Airborne equipment electrical connections ==
<Ways of board to aircraft hardware connection>
== Assembly ==
=== Mechanical drawing ===
<Size and dimensions>
=== Component layout ===
<Location of components on PCB>
=== Bill of material ===
<Cost of materials needed for assembly>


= Programming =
= Programming =
== Getting started ==
<General highlights>
== GCS notes ==
<Ground control station tuning notes>
== Bootloader ==
<Bootloader setup>
== JTAG/Hardware testing ==
<Running boards without bootloader and hardware debugging>
== Sensors calibration ==
<All kinds of sensors setup: [[IR]], [[IMU]], proximity, etc.>
== Simulator ==
<Simulation notes. Optional>
= Development =
== Hardware revision history ==
<Hardware revisions and changes list>
== Hardware TODO ==
<Future release wishlist>
== Firmware revision history ==
<Firmware development links>
== Firmware TODO ==
<Firmware improvments wishlist>
== Bootloader ==
== Bootloader ==
<Bootloader considerations>
"Krooz" uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
 
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the Krooz board is shipped with the KroozDFU bootloader by default.
= Resources =
== PCB and assembled board suppliers ==
<Links to board suppliers>
== Downloads ==
<Attached extra files>
== Gallery ==
<User images involving specified board>
 


== Source code ==
The Krooz source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]


----
(*(oo)*), ,~


[[Category:Autopilots]]
[[Category:Autopilots]]

Latest revision as of 06:34, 25 January 2013

The Krooz Autopilot

Overview

Krooz UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.

Features

Krooz is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

  • STM32 microcontroller STM32F405RGT6 datasheet with 1024kB flash and up to 192kB RAM
  • MPU6050 Gyro/Accelerometer sensor
  • MRF24WB0 WiFi or
  • BTM-222 Bluetooth (wire or external antenna connector) or
  • XBee Pro module on board.
  • MS5611 high precision Pressure sensor
  • MAX7456 OSD module for mixing in a flight data into a camera video screen
  • 7 x Analog input channels
  • 4 x 3.3V TTL UART (5V tolerant)
  • 11 x Servo PPM outputs (or 10 if using PPM output receiver)
  • 1 x I2C 5V bus
  • 1 x Micro USB
  • Extra camera control 3 pin connector for flexible camera use
  • 3 x status LEDs with attached test point
  • Up to 35V (8S LiPo) input power control unit
  • ~50mm x ~50mm x ~10mm
  • 2 layers PCB design


So, except for a GPS unit with the Krooz you have all necessary sensors for full features all in one rotorcraft solution.

Usage scenarios

Krooz can be used in different telemetry versions:

Krooz bottom wifi.jpg

  • with the on-board BTM-222 Bluetooth module

Krooz bottom bluetooth.jpg

  • or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

Hardware design

Pinout

Krooz top ports.jpgKrooz bottom bt ports.jpg

Programming

Bootloader

"Krooz" uses an own KroozDFU bootloader (based on libopencm3 project). You can find it here, clone to your PC an build or use a precompiled binary file to upload. However the Krooz board is shipped with the KroozDFU bootloader by default.

Source code

The Krooz source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family. It is available from here