Difference between revisions of "Apogee/v1.00"

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=== 6 or 9 DOF IMU ===
=== 6 or 9 DOF IMU ===
Apogee v1.00 PCB offer two [http://www.invensense.com/ Invensense] IMU chip options:
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU-6050] : 6 DOF, 3 axis Accelerometer + 3 axis Gyroscope
* [http://www.invensense.com/mems/gyro/mpu9150.html MPU-9150] : 9 DOF, 3 axis Accelerometer + 3 axis Gyroscope + 3 axis Magnetometer


=== USB Modes ===
=== USB Modes ===

Revision as of 02:13, 2 August 2013

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
  • 10.4 grams (0.37 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)
  • hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected

6 or 9 DOF IMU

Apogee v1.00 PCB offer two Invensense IMU chip options:

  • MPU-6050 : 6 DOF, 3 axis Accelerometer + 3 axis Gyroscope
  • MPU-9150 : 9 DOF, 3 axis Accelerometer + 3 axis Gyroscope + 3 axis Magnetometer

USB Modes

planned behavior :

  • usb plugged before autopilot is powered : enter DFU mode to be flashed
  • usb plugged after autopilot is powered : stop ap task, enter usb storage mode to made sdcard content easily avalaible, after the host has mounted;copied;dismounted storage;unplugged usb, ap restart

SWD: Serial Wire Debug

permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

R/C Serial

Real Time Clock

supercap powered rtc, permit to associate correct time and date on sdcard log files, when ap is unpowered between flights

Power Switch

Pictures

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), 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

Apogee v1.00 Schematic



PCB

Gerber & Drill Files

PCB design Eurocircuits 6-C class compliant:

Download Apogee v1.00 gerber & drill files (zip)

RS274X, units = Inches, format = 2:5

  • Apogee_v100_Silkscreen_TOP.GBR (Top Component Print Layer)
  • Apogee_v100_Soldermask_Top.GBR (Top Solder Mask)
  • Apogee_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
  • Apogee_v100_Signal_Top.GBR (Top Copper Layer)
  • Apogee_v100_Internal_Plane_1.GBR (Internal Copper Layer GND)
  • Apogee_v100_Internal_Plane_2.GBR (Internal Copper Layer +3.3V)
  • Apogee_v100_Signal_Bottom.GBR (Bottom Copper Layer)
  • Apogee_v100_Paste_Mask_Bottom.GBR (Bottom Paste, stencil)
  • Apogee_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
  • Apogee_v100_Outline.GBR (Board Outline)
  • Apogee_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)


Assembly

Components Layout


Bill Of Material

Download Apogee v1.00 Bill of Material (zipped .xls file)

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 (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