Chimera/v1.00

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Chimera v1.00 top side

Chimera v1.00 top side

Overview

  • STMicro STM32F767 Micro Controller Unit (ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA,etc.)
  • 9 DOF Inertial Measurement Unit
  • Barometer/altimeter (I2C, IMU slave capability)
  • Differential Pressure Sensor for Pitot tube
  • microSD card (+ dedicated power supply for emergency files closing system)
  • All connectors available both in standard 0.1” header and Molex Picoblade (except servos and R/C receiver, 0.1” header only)
  • Dedicated serial link and power supply for "Companion Board" (Beaglebone, Raspberry, Gumstix, ...)
  • x4 status Leds + 8 segments LED display
  • SWD debug connector (STM STLink compliant header)
  • x8 Servos (+ Servos Power supply selection capabilities: Chimera onboard power supply or external source)
  • x2 RC Receiver inputs (S.BUS, PPM & Spektrum Satellite compatible, including receiver binding)
  • x5 UARTs (including one with hardware flow control signals)
  • x1 I2C bus (3.3V and 5V logic level)
  • x1 SPI bus (with Slave Select, Master or Slave)
  • x1 CAN bus
  • x8 auxiliary Inputs/Outputs spread over 2 connectors (x6 ADC, x6 Timers different from servos, x1 UART, x1 DAC)
  • XBEE modem holder (ASSO and Reset connected to MCU GPIOs)
  • x1 USB :
    • DFU mode (download) or USB storage (direct access to MicroSD card)
    • micro-USB plug (+ Picoblade & 0.1” header in //)
    • Board can be flashed even if aircraft battery is off)
  • Controlled Powerswitch 5V supply on AUX A (AUX0 to 3) header
  • Twin switching power supply :
    • source 2 to 6 Lipo cells (6 to 26v)
    • 5v/3A for “Companion” board (controlled by GPIO)
    • 5v/3A dedicated to Chimera (servos and other 5v peripherals)
  • VBat+Gnd connectors for peripheral
  • 89x60mm (3.5x2.4")

Hardware Revision History

Version # Release Date Release Notes
v1.00 10/2016 Initial release of Chimera

Detailed Features

SDIO (MicroSD card)

  • software support available with v5.2 and above
  • hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected
  • USB-storage mode when plugging an USB cable after startup

Sensors

  • 9 DOF IMU
    Chimera v1.00 offer last Invensense IMU chip MPU-9250 : 9 DOF, 3 axis Accelerometer + 3 axis Gyroscope + 3 axis Magnetometer
  • Barometer/Altimeter
  • Differential pressure sensor / Pitot

USB Modes

  • USB plugged before autopilot is powered : enter DFU mode to be flashed (can be flashed even if autopilot is not powered)
  • 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 or CricketProbe

R/C Serial

Power

The input power source (Battery) voltage range of Chimera is 6V to 26V (2 to 6 Lipo cells)

  • Twin Power Supply
    • one 5V/3A dedicated to Chimera, servos (see Servo Power Supply selection below) and other 5V peripheral
    • one 5V/3A dedicated to "Companion Board" available on UART1 connector ("5V Comp.",#2) can be switched ON and OFF on demand using EN_COMP (MCU GPIO output PC04).
      • EN_COMP = 1 => 5V Comp. OFF
      • EN_COMP = 0 => 5V Comp. ON (default)
  • Servo Power supply selection
    Chimera offer 2 option for servo power supply
    • Onboard 5V/3A, provided total current (autopilot + external 5V modules + servos) does not exceed 3A.
    • External 5V source (BEC) for special servo configuration

(see Servo Power options section below for correct selection)

  • Power Switch
    5V power output pin on AUX A connector ("5V Aux.",#2) can be switched ON and OFF on demand using APSW (MCU GPIO output PE06).
    • APSW = 0 => 5V Aux OFF
    • APSW = 1 => 5V Aux ON (default)

The internal switch TPS2051B is designed to withstand 500mA continuous current and is short-circuit and thermally protected.
(see TPS2051B datasheet for recommended operation conditions)

Onboard Modem

Companion Board

LEDs & Display

Buses

  • I2C
  • SPI
  • CAN

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 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 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.
Note : Whatever option is chosen, autopilot's ground already connected to servomotor's ground.

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.

Chimera v1.00 : Powering Servos with 5V Autopilot Rail

Warning: make sure shunt current rating exceed servos total consumption
A practical way of making this connection is to use a 2 or 3 way shunt like Samtec's MNT-103-BK-G (3.9A/pin)

Chimera v1.00 servo supply shunt example Samtec 3 way Shunt MNT-103-BK-G

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.

Chimera v1.00 : external source servo powering diagram

Schematic

PCB

Gerber & Drill Files

Assembly

Components Layout

Bill Of Material

Download Chimera v1.00 Bill of Material (zipped LibreOffice Calc & PDF file)

PCB and assembled boards suppliers

Check availability on Get Hardware page

Mechanical Dimensions

Apogee v1.00 Top 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