Andrew Tridgell
6 years ago
2 changed files with 506 additions and 0 deletions
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# Pixhawk1 Flight Controller |
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|
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The Pixhawk1 flight controller was originally produced by 3DR. A |
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number of vendors now sell boards with the same layout as the original |
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board. |
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|
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## Features |
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|
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- STM32F427 microcontroller |
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- MPU6000 and LSM303D/L3GD20 IMUs |
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- MS5611 SPI barometer |
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- builtin SPI LSM303D magnetometer |
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- microSD card slot |
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- 5 UARTs plus USB |
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- 14 PWM outputs |
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- I2C and CAN ports |
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- Spektrum satellite connector |
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- External Buzzer |
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- builtin RGB LED |
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- external safety Switch |
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- external SPI port |
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- voltage monitoring for servo rail and Vcc |
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- dedicated power input port for external power brick |
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- external USB connectors (micro USB and DF13) |
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|
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## Pinout |
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|
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 |
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|
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## UART Mapping |
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|
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- SERIAL0 -> USB |
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- SERIAL1 -> UART2 (Telem1) |
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- SERIAL2 -> UART3 (Telem2) |
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- SERIAL3 -> UART4 (GPS) |
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- SERIAL4 -> UART8 (GPS2) |
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- SERIAL5 -> UART7 (spare) |
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|
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The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not |
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have RTS/CTS. |
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|
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The GPS2/spare port (labelled serial5) has two UARTs on one 6 pin |
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connector. The spare port was originally used as a debug console, but |
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debug is now on USB, so this port is free for any UART protocol. |
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|
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## Connectors |
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|
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The original Pixhawk1 uses DF13 connectors, and has 14 ports |
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|
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### TELEM1, TELEM2 ports |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin </th> |
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<th>Signal </th> |
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<th>Volt </th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>CTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>RTS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### GPS port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>TX (OUT)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>RX (IN)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>CAN2 TX</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>CAN2 RX</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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|
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### SERIAL 4/5 port |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>TX (#4)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>RX (#4)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>TX (#5)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>RX (#5)</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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### ADC 6.6V |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>ADC IN</td> |
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<td>up to +6.6V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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|
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### ADC 3.3V |
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>ADC IN</td> |
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<td>up to +3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>ADC IN</td> |
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<td>up to +3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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|
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### I2C |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SCL</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SDA</td> |
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<td>+3.3 (pullups)</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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|
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|
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### CAN |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>CAN_H</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>CAN_L</td> |
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<td>+12V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### SPI |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>SPI_SCK</td> |
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<td>3.3V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SPI_MISO</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>SPI_MOSI</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>5 (blk)</td> |
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<td>!SPI_NSS</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>6 (blk)</td> |
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<td>!GPIO</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>7 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### POWER |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>VCC</td> |
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<td>+5V</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>CURRENT</td> |
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<td>up to +3.3V</td> |
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</tr> |
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<tr> |
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<td>4 (blk)</td> |
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<td>VOLTAGE</td> |
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<td>up to +3.3V</td> |
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</tr> |
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<td>5 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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<td>6 (blk)</td> |
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<td>GND</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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### SWITCH |
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|
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<table border="1" class="docutils"> |
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<tbody> |
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<tr> |
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<th>Pin</th> |
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<th>Signal</th> |
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<th>Volt</th> |
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</tr> |
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<tr> |
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<td>1 (red)</td> |
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<td>VCC</td> |
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<td>+3.3V</td> |
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</tr> |
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<tr> |
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<td>2 (blk)</td> |
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<td>!IO_LED_SAFETY</td> |
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<td>GND</td> |
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</tr> |
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<tr> |
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<td>3 (blk)</td> |
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<td>SAFETY</td> |
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<td>GND</td> |
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</tr> |
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</tbody> |
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</table> |
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|
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## RC Input |
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|
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RC input is configured on the RCIN pin, at one end of the servo rail, |
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marked PPM in the above diagram. This pin supports all RC |
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protocols. In addition there is a dedicated Spektrum satellite port |
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which supports software power control, allowing for binding of |
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Spektrum satellite receivers. |
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|
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## PWM Output |
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|
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The Pixhawk1 supports up to 14 PWM outputs. First first 8 outputs (labelled |
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"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8 |
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outputs support all PWM output formats, but not DShot. |
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|
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The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary" |
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outputs. These are directly attached to the STM32F427 and support all |
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PWM protocols as well as DShot. |
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|
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The 8 main PWM outputs are in 3 groups: |
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|
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- PWM 1 and 2 in group1 |
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- PWM 3 and 4 in group2 |
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- PWM 5, 6, 7 and 8 in group3 |
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|
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The 6 auxillary PWM outputs are in 2 groups: |
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|
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- PWM 1, 2, 3 and 4 in group1 |
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- PWM 5 and 6 in group2 |
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|
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Channels within the same group need to use the same output rate. If |
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any channel in a group uses DShot then all channels in the group need |
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to use DShot. |
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|
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## Battery Monitoring |
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|
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The board has a dedicatd power monitor port on a 6 pin DF13 |
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connector. The correct battery setting parameters are dependent on the |
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type of power brick which is connected. |
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|
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## Compass |
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|
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The Pixhawk1 has a LSM303D builtin SPI compass, but due to |
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interference the board is usually used with an external I2C compass as |
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part of a GPS/Compass combination. |
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|
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## GPIOs |
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|
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The 6 auxillary PWM ports can be used as GPIOs (relays, buttons, RPM |
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etc). To use them you need to limit the number of these pins that is |
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used for PWM by setting the BRD_PWM_COUNT to a number less than 6. For |
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example if you set BRD_PWM_COUNT to 4 then AUX5 and AUX6 will be |
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available for use as GPIOs. |
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|
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The numbering of the GPIOs for PIN variables in ArduPilot is: |
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|
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- AUX1 50 |
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- AUX2 51 |
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- AUX3 52 |
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- AUX4 53 |
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- AUX5 54 |
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- AUX6 55 |
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|
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## Analog inputs |
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|
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The Pixhawk1 has 6 analog inputs on the FMU, plus servo rail voltage |
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and RSSI monitoring on the IO controller. |
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|
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- ADC Pin2 -> Battery Voltage |
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- ADC Pin3 -> Battery Current Sensor |
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- ADC Pin4 -> Vdd 5V supply sense |
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- ADC Pin13 -> ADC 3.3V Port pin1 |
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- ADC Pin14 -> ADC 3.3V Port pin2 |
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- ADC Pin15 -> ADC 6.6V port |
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- ADC Pin103 -> RSSI voltage monitoring |
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|
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## Loading Firmware |
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|
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The board comes pre-installed with an ArduPilot compatible bootloader, |
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allowing the loading of *.apj firmware files with any ArduPilot |
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compatible ground station. |
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