Apogee/v1.00

Autopilots Booz HB Autopilots Lisa Tiny YAPA Autopilots Ap.parrot minidrone Apogee/v1.00 HITL Autopilots Bebop Booz Chimera/v1.00 Classix CrazybeeF4Pro Disco Elle Elle0 Future Autopilots Krooz KroozSD LinAM V4 Lisa Lisa/Bone Lisa/L Lisa/M Lisa/M v1.0 Lisa/M v2.0 Lisa/MX Lisa/S NavGo v3 NavStik Pixhawk Pixracer Previous Autopilots STM32F4 Discovery STM32F429I Discovery Tawaki/v1.00 Tawaki/v1.10 Tawaki/v2.01 TWOG/v1.0 Umarim Lite v2 Umarim v1.0 Xvert

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)
• hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected

USB Modes

planned behavior :

• usb plugged before autopilot is powered : enter DFU mode to be flashed
• usb plugged after autopilot is powered : stop ap task, enter usb storage mode to made sdcard content easily avalaible, after the host has mounted;copied;dismounted storage;unplugged usb, ap restart

SWD: Serial Wire Debug

permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

Real Time Clock

supercap powered rtc, permit to associate correct time and date on sdcard log files, when ap is unpowered between flights

Power Switch

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  Apogee v1.00 3D bottom view

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  Apogee v1.00 3D top view

Pinout

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

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

Examples of Airborne Equipment Electrical Connections

Small Aircraft Connection Diagram

soon...

Large Aircraft Connection Diagram

soon...

Assembly

Components Layout

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  Apogee v1.00 bottom components Layout

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  Apogee v1.00 top components Layout

• 

  Apogee v1.00 bottom components detail

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  Apogee v1.00 top components detail

PCB and assembled boards suppliers

Check availability on Get Hardware page

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