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)

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

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

• 

  Apogee v1.00 bottom components Layout

• 

  Apogee v1.00 top components Layout

• 

  Apogee v1.00 bottom components detail

• 

  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