Apogee/v1.00
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
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
| 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 |
| 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 |
| 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 |
| 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 |
| 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.
| 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 |
| 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 |
| 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...
PCB
Gerber & Drill Files
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
Bill Of Material
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