Difference between revisions of "Chimera/v1.00"

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{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 (Companion)'''
|+'''UART1 (Companion)'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|-
|1||style="background:black; color:white"|GND||PWR||common ground
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|2||style="background:Orange; color:white"|+5V Comp.||PWR||5V/3A specific for Companion board (PC4 = LOW => ON (default) / PC4 = High => OFF)
|2||style="background:Orange; color:white"|+5V Comp.||PWR||Controlled by<br>PC4||5V/3A specific for Companion board (PC4 = LOW => ON (default, pulldown) / PC4 = High => OFF)
|-
|-
|3||style="background:Red; color:white"|+3.3V||PWR||3.3V Rail from autopilot
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|4||style="background:green; color:white"|RX1||IN||UART1 Serial Input (3.3V level, 5V tolerant)
|4||style="background:green; color:white"|RX1||IN||PB7||UART1 Serial Input (3.3V level, 5V tolerant)
|-
|-
|5||style="background:blue; color:white"|TX1||OUT||UART1 Serial Output (3.3V level)
|5||style="background:blue; color:white"|TX1||OUT||PB6||UART1 Serial Output (3.3V level)
|}
|}
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX2||IN||PD6||UART2 Serial Input (3.3V level, 5V tolerant)
|-
|5||style="background:blue; color:white"|TX2||OUT||PD5||UART2 Serial Output (3.3V level)
|-
|6||style="background:Grey; color:white"|RTS2||OUT||PD4||UART2 Flow Control Request to Send (3.3V level)
|-
|7||style="background:purple; color:white"|CTS2||IN||PD3||UART2 Flow Control Clear to Send (3.3V level, 5V tolerant)
|}
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
|+'''UART3 (Modem)'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|-
|1||style="background:black; color:white"|GND||PWR||common ground
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||5V Rail from autopilot
|4||style="background:green; color:white"|RX3||IN||PD9||UART3 Serial Input (3.3V level, 5V tolerant) '''DO NOT USE''' if XBee module present on Chimera
|-
|-
|3||style="background:Red; color:white"|+3.3V||PWR||3.3V Rail from autopilot
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level) '''DO NOT USE''' if XBee module present on Chimera
|}
<br><br>
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART8 (GPS Receiver)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|-
|4||style="background:green; color:white"|RX2||IN||UART2 Serial Input (3.3V level, 5V tolerant)
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|5||style="background:blue; color:white"|TX2||OUT||UART2 Serial Output (3.3V level)
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|-
|6||style="background:Grey; color:white"|RTS2||OUT||UART2 Flow Control Request to Send (3.3V level)
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|7||style="background:purple; color:white"|CTS2||IN||UART2 Flow Control Clear to Send (3.3V level, 5V tolerant)
|4||style="background:green; color:white"|RX8||IN||PE0||UART8 Serial Input (3.3V level, 5V tolerant)
|-
|5||style="background:blue; color:white"|TX8||OUT||PE1||UART8 Serial Output (3.3V level)
|}
|}
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2 (3V3)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 1.5k pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 1.5k pull-up)
|}
''Note: 2 x Molex Picoblade and 2 x 0.1" Header are all in parallel''
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 (Modem)'''
|+'''I2C2 (5V)'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain<br>I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 3.3k pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain<br>I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 3.3k pull-up)
|}
<br><br>
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|NSS1||OUT||PA15||Slave Select. Selects the SPI slave
|-
|5||style="background:Grey; color:white"|MOSI1||I/O||PB5||SPI1 Master Out Slave In. Data output from master / data input to slave
|-
|6||style="background:Green; color:white"|MISO1||I/O||PB4||SPI1 Master In Slave Out. Data input to master / data output from slave
|-
|-
|1||style="background:black; color:white"|GND||PWR||common ground
|7||style="background:Yellow; color:black"|SCK1||I/O||PB3||SPI1 Serial clock. Clock output from master or input to slave
|}
<br><br>
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||5V Rail from autopilot
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|3||style="background:Red; color:white"|+3.3V||PWR||3.3V Rail from autopilot
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|-
|4||style="background:green; color:white"|RX3||IN||UART3 Serial Input (3.3V level, 5V tolerant) '''DO NOT USE''' if XBee module present on Chimera
|3||style="background:Yellow; color:black"|CANH||I/O||-||CAN bidirectional + line
|-
|-
|5||style="background:blue; color:white"|TX3||OUT||UART3 Serial Output (3.3V level) '''DO NOT USE''' if XBee module present on Chimera
|4||style="background:Green; color:white"|CANL||I/O||-||CAN bidirectional - line
|}
|}
''Note: Embedded 120R terminator resistor.''
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:green; color:white"|USB+||I/O||PA12||USB bidirectional D+ line
|-
|3||style="background:white; color:black"|USB-||I/O||PA11||USB bidirectional D- line
|-
|4||style="background:orange; color:white"|VBUS||IN||PA9||Indicates the presence of USB bus power (5V level), DFU or USB storage Mode selection (BOOT0 MCU pin)
|}
''Note: MicroUSB, Molex Picoblade and 0.1" Header USB connectors are in parallel, only one can be connected at a time.''
<br><br>


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART8 (GPS Receiver)'''
|+'''SWD (Serial Wire debug)'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|-
|1||style="background:black; color:white"|GND||PWR||common ground
|1||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|-
|2||style="background:Orange; color:white"|+5V||PWR||5V Rail from autopilot
|2||style="background:blue; color:white"|SWCLK||IN||PA14||SWD Serial Clock
|-
|-
|3||style="background:Red; color:white"|+3.3V||PWR||3.3V Rail from autopilot
|3||style="background:black; color:white"|GND||PWR||-||common ground
|-
|-
|4||style="background:green; color:white"|RX8||IN||UART8 Serial Input (3.3V level, 5V tolerant)
|4||style="background:sienna; color:white"|SWDIO||I/O||PA13||SWD Serial Data
|-
|-
|5||style="background:blue; color:white"|TX8||OUT||UART8 Serial Output (3.3V level)
|5||RST||IN||NRST||MCU Reset
|}
|}
''Pin to pin compatible with STM ST-LINK/V2 debug tool connector''
<br><br>


== Schematic ==
== Schematic ==

Revision as of 02:47, 2 March 2017

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

Chimera v1.00 top side

Overview

Hardware Revision History

Version # Release Date Release Notes
v1.00 10/2016 Initial release of Chimera

Detailed Features

Pictures

Pinout

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

General Pinout

Chimera v1.00 general pinout

Pinout Tables

UART1 (Companion)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Comp. PWR Controlled by
PC4		 5V/3A specific for Companion board (PC4 = LOW => ON (default, pulldown) / PC4 = High => OFF)
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX1 IN PB7 UART1 Serial Input (3.3V level, 5V tolerant)
5 TX1 OUT PB6 UART1 Serial Output (3.3V level)



UART2
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX2 IN PD6 UART2 Serial Input (3.3V level, 5V tolerant)
5 TX2 OUT PD5 UART2 Serial Output (3.3V level)
6 RTS2 OUT PD4 UART2 Flow Control Request to Send (3.3V level)
7 CTS2 IN PD3 UART2 Flow Control Clear to Send (3.3V level, 5V tolerant)



UART3 (Modem)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX3 IN PD9 UART3 Serial Input (3.3V level, 5V tolerant) DO NOT USE if XBee module present on Chimera
5 TX3 OUT PD8 UART3 Serial Output (3.3V level) DO NOT USE if XBee module present on Chimera



UART8 (GPS Receiver)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 RX8 IN PE0 UART8 Serial Input (3.3V level, 5V tolerant)
5 TX8 OUT PE1 UART8 Serial Output (3.3V level)



I2C2 (3V3)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 SDA2 Open Drain
I/O		 PB11 I2C2 bus Serial DAta (3.3V level, 1.5k pull-up)
5 SCL2 Open Drain
I/O		 PB10 I2C12 bus Serial CLock (3.3V level, 1.5k pull-up)

Note: 2 x Molex Picoblade and 2 x 0.1" Header are all in parallel

I2C2 (5V)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 SDA2 Open Drain
I/O		 PB11 I2C2 bus Serial DAta (5V level, 3.3k pull-up)
5 SCL2 Open Drain
I/O		 PB10 I2C12 bus Serial CLock (5V level, 3.3k pull-up)



SPI1
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 +3.3V PWR - 3.3V Rail from autopilot
4 NSS1 OUT PA15 Slave Select. Selects the SPI slave
5 MOSI1 I/O PB5 SPI1 Master Out Slave In. Data output from master / data input to slave
6 MISO1 I/O PB4 SPI1 Master In Slave Out. Data input to master / data output from slave
7 SCK1 I/O PB3 SPI1 Serial clock. Clock output from master or input to slave



CAN
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V PWR - 5V Rail from autopilot
3 CANH I/O - CAN bidirectional + line
4 CANL I/O - CAN bidirectional - line

Note: Embedded 120R terminator resistor.

USB
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 USB+ I/O PA12 USB bidirectional D+ line
3 USB- I/O PA11 USB bidirectional D- line
4 VBUS IN PA9 Indicates the presence of USB bus power (5V level), DFU or USB storage Mode selection (BOOT0 MCU pin)

Note: MicroUSB, Molex Picoblade and 0.1" Header USB connectors are in parallel, only one can be connected at a time.

SWD (Serial Wire debug)
Pin # Name Type MCU Port Description
1 +3.3V PWR - 3.3V Rail from autopilot
2 SWCLK IN PA14 SWD Serial Clock
3 GND PWR - common ground
4 SWDIO I/O PA13 SWD Serial Data
5 RST IN NRST MCU Reset

Pin to pin compatible with STM ST-LINK/V2 debug tool connector

Schematic

PCB

Gerber & Drill Files

Assembly

Components Layout

Bill Of Material

PCB and assembled boards suppliers

Check availability on Get Hardware page

Mechanical Dimensions

Programming

On-board Data Logging

Debugging

Debugging with STM Discovery ST-LINK/V2 embedded debug tool

Debugging with CricketProbe

Debugging with Black Magic Probe

Source Files

Source code

Where to Buy

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