Difference between revisions of "Apogee/v1.00"

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__TOC__
__TOC__


= Overview =
== Overview ==


== Hardware Revision History ==
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2013||Initial release of Apogee
|}
== Features ==
* STMicroelectronics STM32F405 MCU based
* STMicroelectronics STM32F405 MCU based
* 9(6) DOF integrated IMU MPU-9150(6050) based
* 9(6) DOF integrated IMU MPU-9150(6050) based
Line 42: Line 32:
* 53 x 25mm (2.1" x 0.98"), shares the same external dimensions and mounting points as UmarimLite
* 53 x 25mm (2.1" x 0.98"), shares the same external dimensions and mounting points as UmarimLite
* 4 layers PCB design
* 4 layers PCB design
== Hardware Revision History ==
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2013||Initial release of Apogee
|}
== Detailed Features ==
=== SDIO (MicroSD card) ===
=== 6 or 9 DOF IMU ===
=== USB Modes ===
=== SWD: Serial Wire Debug ===
=== R/C Serial ===
=== Real Time Clock ===
=== Power Switch ===


<gallery>
<gallery>
Line 52: Line 69:


[[Image:Apogee_v100_pinout.png]]
[[Image:Apogee_v100_pinout.png]]
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SRV0/1/2/3/4/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3||SRVx||OUT||Servo signal (PWM)||White
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''R/C'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +5v||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3||PPM in||IN||PPM Stream from R/C Receiver (5V tolerant)||style="background:white; color:black"|White
|-
|4||RX2||IN||UART2 Serial Input (5V Tolerant), reversible||style="background:green; color:white"|Green
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/4/6'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3|| +3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||RX1/4/6||IN||UART1/4/6 Serial Input (3.3V level, 5V Tolerant)||style="background:green; color:white"|Green
|-
|5||TX1/4/6||OUT||UART1/4/6 Serial Output (3.3V level)||style="background:blue; color:white"|Blue
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1/2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="12%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3|| +3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|4||SDA1/2||Open Drain I/O<br>(1.5k pull-up)||I2C1/2 bus Serial DAta||style="background:sienna; color:white"|Brown
|-
|5||SCL1/2||Open Drain I/O<br>(1.5k pull-up)||I2C1/2 bus Serial CLock||style="background:blue; color:white"|Blue
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||USB+||I/O||USB bidirectional D+ line||style="background:green; color:white"|Green
|-
|3||USB-||I/O||USB bidirectional D- line||style="background:white; color:black"|White
|-
|4||VBUS||IN||Indicates the presence of USB bus power (5V level)||style="background:orange; color:white"|Orange
|}
''Note: MiniUSB and Molex USB connectors are in parallel, only one can be connected at a time.''
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3|| +3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|4||CS1||OUT||Slave Select. Selects the SPI slave (SSEL1)||style="background:sienna; color:white"|Brown
|-
|5||MOSI1||I/O||SPI1 Master Out Slave In. Data output from master / data input to slave||style="background:Grey; color:white"|Grey
|-
|6||MISO1||I/O||SPI1 Master In Slave Out. Data input to master / data output from slave||style="background:Green; color:white"|Green
|-
|7||SCK1||I/O||SPI1 Serial clock. Clock output from master or input to slave||style="background:Yellow; color:black"|Yellow
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Port!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||||common ground||style="background:black; color:white"|Black
|-
|2|| +5V||PWR||||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3|| +3.3V||PWR||||3.3V Rail from autopilot||style="background:Red; color:white"|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||
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|3||RST||IN||MCU Reset||style="background:white; color:black"|White
|-
|4||SWCLK||IN||Serial Wire Clock||style="background:blue; color:white"|Blue
|-
|6||SWDIO||I/O||Serial Wire Data Input/Output||style="background:sienna; color:white"|Brown
|}


== Schematic ==
== Schematic ==
Line 85: Line 231:
[[Image:Apogee_v100_top_mechanical_dimensions.png|500px|Apogee v1.00 Top Mechanical Dimensions]]
[[Image:Apogee_v100_top_mechanical_dimensions.png|500px|Apogee v1.00 Top Mechanical Dimensions]]
[[Image:Apogee_v100_side_mechanical_dimensions.png|500px|Apogee v1.00 Side Mechanical Dimensions]]
[[Image:Apogee_v100_side_mechanical_dimensions.png|500px|Apogee v1.00 Side Mechanical Dimensions]]
== Programming ==
Apogee autopilot can reprogrammed in two different ways:
* using the MCU native DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
* using the SWD (Serial Wire Debug) connector
=== Source code ===
Available in latest git master branch
[[Category:Autopilots]]

Revision as of 07:58, 23 July 2013

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

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)

6 or 9 DOF IMU

USB Modes

SWD: Serial Wire Debug

R/C Serial

Real Time Clock

Power Switch

  • Apogee v1.00 3D bottom view

  • Apogee v1.00 3D top view

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) 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 (SSEL1) 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

soon...

Examples of Airborne Equipment Electrical Connections

Small Aircraft Connection Diagram

soon...

Large Aircraft Connection Diagram

soon...

PCB

Gerber & Drill Files

Assembly

Components Layout

  • Apogee v1.00 bottom components Layout

  • Apogee v1.00 top 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 DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
  • using the SWD (Serial Wire Debug) connector

Source code

Available in latest git master branch

Retrieved from "http://wiki.paparazziuav.org/w/index.php?title=Apogee/v1.00&oldid=15550"