Difference between revisions of "Chimera/v1.00"

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<div style="float: right; width: 65%">
<div style="float: right; width: 65%">
[[Image:Chimera_v100_top_wXB.JPG|700px|Chimera v1.00 top side]]
[[Image:Chimera_v100_top_1E.JPG|500px|Chimera v1.00 top side]]<br><br>
[[Image:Chimera_v100_top_wXB.JPG|500px|Chimera v1.00 top side]]
 
</div>
</div>
__TOC__
__TOC__
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=== General Pinout ===
=== General Pinout ===
[[Image:Chimera_v100_pinout_general.png|1200px|Chimera v1.00 general pinout]]
[[Image:Chimera_v100_pinout_general.png|1200px|Chimera v1.00 general pinout]]
 
<br>
=== Pinout Tables ===


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
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|5||AUX5||I/O||PC2||General Purpose I/O / ADC1+2+3 in12
|5||AUX5||I/O||PC2||General Purpose I/O / ADC1+2+3 in12
|-
|-
|6||AUX6||I/O||PC6||General Purpose I/O / TIM3 ch1 / TIM8 ch1 / UART6 TX
|6||AUX6||I/O||PC6||General Purpose I/O / TIM3 ch1 / TIM8 ch1 / UART6 Tx
|-
|-
|7||AUX7||I/O||PC7||General Purpose I/O / TIM3 ch2 / TIM8 ch2 / UART6 RX
|7||AUX7||I/O||PC7||General Purpose I/O / TIM3 ch2 / TIM8 ch2 / UART6 Rx
|}
|}
<br><br>
<br><br>
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<br><br>
<br><br>
=== R/C Receivers and Servos header pinout ===
[[Image:Chimera_v100_pinout_RC_&_Servos.png|1200px|Chimera v1.00 R/C Receivers and Servos header pinout]]
<br>
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''RC Receiver 1'''
!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 Servo||PWR||-||5V Rail from autopilot
|-
|3||RC1||I/O||PA1||Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal (5V Tolerant)<br>UART4 Rx / TIM2 ch2 / TIM5 ch2
|}
<br>
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''RC Receiver 2'''
!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 Servo||PWR||-||5V Rail from autopilot
|-
|3||RC1||IN||PE7||Serial (SBUS, Spektrum, etc.) RC receiver signal (5V Tolerant)<br>UART7 Rx
|}
<br>
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Servo 0/1/2/3/4/5/6/7'''
!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:OrangeRed; color:white"|+5V Servo||PWR||-||5V Rail for Servos
|-
|3||SRV0<br>SRV1<br>SRV2<br>SRV3<br>SRV4<br>SRV5<br>SRV6<br>SRV7||OUT||PA6<br>PA7<br>PB0<br>PB1<br>PD12<br>PD13<br>PD14<br>PD15||Servo signal (PWM)
|}
<br>
=== Servo Power options ===
There is two options to supply connected servos:
==== Powering Servos with Autopilot ====
This option can be used provided total current from 5V rail (autopilot + external 5V modules + servos) does not exceed 3A.
In this case, 5V servo rail must be connected to autopilot 5V rail as described below.
==== Powering Servos using an external BEC/Power Source ====
This option must be used if total current from 5V rail may exceed 3A or for other special servo configuration.


== Schematic ==
== Schematic ==

Revision as of 07:46, 3 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

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

UART1 (Companion)
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Comp. PWR Controlled by
PC5		 5V/3A specific for Companion board
(PC5 = LOW => ON (default, pulldown) / PC5 = 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



AUX A
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Aux PWR Controlled by
PC4		 5V from autopilot through Power Switch
(PC4 = LOW => OFF / PC4 = High => ON)
3 +3.3V PWR - 3.3V Rail from autopilot
4 AUX0 I/O PA5 General Purpose I/O / ADC1+2 in5 / DAC2 / TIM2 ch1
5 AUX1 I/O PA3 General Purpose I/O / ADC1+2+3 in3 / TIM2 ch4 / TIM5 ch4 / TIM9 ch2
6 AUX2 I/O PA2 General Purpose I/O / ADC1+2+3 in2 / TIM2 ch3 / TIM5 ch3 / TIM9 ch1
7 AUX3 I/O PA0 General Purpose I/O / ADC1+2+3 in0 / TIM2 ch1 / TIM5 ch1



AUX B
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 AUX4 I/O PC3 General Purpose I/O / ADC1+2+3 in13
5 AUX5 I/O PC2 General Purpose I/O / ADC1+2+3 in12
6 AUX6 I/O PC6 General Purpose I/O / TIM3 ch1 / TIM8 ch1 / UART6 Tx
7 AUX7 I/O PC7 General Purpose I/O / TIM3 ch2 / TIM8 ch2 / UART6 Rx



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
6 NC - - Not connected, for STM ST-LINK/V2 connector compliance

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

Power Out
Pin # Name Type Description
1 GND PWR common ground
use only to power peripheral modules, DO NOT use as power supply input for autopilot
2 VBAT PWR + Rail from battery
use only to power peripheral modules, DO NOT use as power supply input for autopilot



R/C Receivers and Servos header pinout

Chimera v1.00 R/C Receivers and Servos header pinout

RC Receiver 1
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Servo PWR - 5V Rail from autopilot
3 RC1 I/O PA1 Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal (5V Tolerant)
UART4 Rx / TIM2 ch2 / TIM5 ch2


RC Receiver 2
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Servo PWR - 5V Rail from autopilot
3 RC1 IN PE7 Serial (SBUS, Spektrum, etc.) RC receiver signal (5V Tolerant)
UART7 Rx


Servo 0/1/2/3/4/5/6/7
Pin # Name Type MCU Port Description
1 GND PWR - common ground
2 +5V Servo PWR - 5V Rail for Servos
3 SRV0
SRV1
SRV2
SRV3
SRV4
SRV5
SRV6
SRV7		 OUT PA6
PA7
PB0
PB1
PD12
PD13
PD14
PD15		 Servo signal (PWM)


Servo Power options

There is two options to supply connected servos:

Powering Servos with Autopilot

This option can be used provided total current from 5V rail (autopilot + external 5V modules + servos) does not exceed 3A. In this case, 5V servo rail must be connected to autopilot 5V rail as described below.

Powering Servos using an external BEC/Power Source

This option must be used if total current from 5V rail may exceed 3A or for other special servo configuration.


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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