2015-02-27 16:41:38 -04:00
|
|
|
#Hardware
|
|
|
|
|
|
|
|
|
|
## Load device tree
|
|
|
|
|
To load the BBBMINI device tree type `startup.sh load`.
|
|
|
|
|
|
|
|
|
|
## Build dtbo file
|
|
|
|
|
To rebuild the dtbo file type `make` and than `make install`to copy the dtbo file to `/lib/firmware`.
|
|
|
|
|
|
|
|
|
|
## Pin assigment
|
|
|
|
|
|
|
|
|
|
### RCInput
|
2015-04-07 15:41:21 -03:00
|
|
|
BBB | RC Receiver | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P9.01 DGND | GND | |
|
|
|
|
|
P9.03 VDD_3V3 | VDD | |
|
|
|
|
|
P8.15 RC_IN | RC Out | IN | 3.3 Volt (Spektrum / PPM-sum)
|
2015-02-27 16:41:38 -04:00
|
|
|
|
2015-04-07 15:41:21 -03:00
|
|
|
### RCOutput
|
|
|
|
|
BBB | ESC / Servo | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P8.01 DGND | GND |
|
|
|
|
|
P8.28 | RC_OUT_CH_1 | OUT | 3.3 Volt
|
|
|
|
|
P8.27 | RC_OUT_CH_2 | OUT | 3.3 Volt
|
|
|
|
|
P8.30 | RC_OUT_CH_3 | OUT | 3.3 Volt
|
|
|
|
|
P8.29 | RC_OUT_CH_4 | OUT | 3.3 Volt
|
|
|
|
|
P8.40 | RC_OUT_CH_5 | OUT | 3.3 Volt
|
|
|
|
|
P8.39 | RC_OUT_CH_6 | OUT | 3.3 Volt
|
|
|
|
|
P8.42 | RC_OUT_CH_7 | OUT | 3.3 Volt
|
|
|
|
|
P8.41 | RC_OUT_CH_8 | OUT | 3.3 Volt
|
|
|
|
|
P8.44 | RC_OUT_CH_9 | OUT | 3.3 Volt
|
|
|
|
|
P8.43 | RC_OUT_CH_10 | OUT | 3.3 Volt
|
|
|
|
|
P8.46 | RC_OUT_CH_11 | OUT | 3.3 Volt
|
|
|
|
|
P8.45 | RC_OUT_CH_12 | OUT | 3.3 Volt
|
|
|
|
|
|
|
|
|
|
### IMU MPU-9250
|
|
|
|
|
BBB | MPU-9250 | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P9.01 DGND | GND | |
|
|
|
|
|
P9.03 VDD_3V3 | VDD | |
|
|
|
|
|
P9.28 MPU9250_CS | MPU9250_CS | OUT | 3.3 Volt
|
|
|
|
|
P9.29 SPI1_MISO | MISO / SD0 | IN | 3.3 Volt
|
|
|
|
|
P9.30 SPI1_MOSI | MOSI / SD1 | OUT | 3.3 Volt
|
|
|
|
|
P9.31 SPI1_SCLK | SCLK / SCL | OUT | 3.3 Volt
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Baro MS 5611
|
|
|
|
|
BBB | MS 5611 | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P9.01 DGND | GND | |
|
|
|
|
|
P9.03 VDD_3V3 | VDD | |
|
|
|
|
|
P9.29 SPI1_MISO | MISO / SDO | IN | 3.3 Volt
|
|
|
|
|
P9.30 SPI1_MOSI | MOSI / SD1 | OUT | 3.3 Volt
|
|
|
|
|
P9.31 SPI1_SCLK | SCLK / SCL | OUT | 3.3 Volt
|
|
|
|
|
P9.42 MS5611_CS | MS5611_CS | OUT | 3.3 Volt
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### UART4 MAVLink radio module
|
|
|
|
|
Baudrate 57600, 8, n, 1
|
|
|
|
|
|
|
|
|
|
BBB | Radio | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P9.01 DGND | GND |
|
|
|
|
|
P9.13 TX | RADIO_RX | OUT | 3.3 Volt
|
|
|
|
|
P9.11 RX | RADIO_TX | IN | 3.3 Volt
|
2015-02-27 16:41:38 -04:00
|
|
|
|
|
|
|
|
|
|
|
|
|
### UART5 GPS
|
2015-04-07 15:41:21 -03:00
|
|
|
Baudrate 38400, 8, n, 1
|
2015-02-27 16:41:38 -04:00
|
|
|
|
2015-04-07 15:41:21 -03:00
|
|
|
BBB | GPS | I/O | Remark
|
|
|
|
|
------------ | ------------- | ------------- | -------------
|
|
|
|
|
P8.01 DGND | GND |
|
|
|
|
|
P8.37 TX | GPS_RX | OUT | 3.3 Volt
|
|
|
|
|
P8.38 RX | GPS_TX | IN | 3.3 Volt
|
2015-02-27 16:41:38 -04:00
|
|
|
|
2015-04-07 15:41:21 -03:00
|
|
|
|
|
|
|
|
### CAN1 UAVCAN
|
|
|
|
|
You have to use a CAN transceiver (e.g. MCP 2562-E/P) for CAN datatransfer.
|
|
|
|
|
|
|
|
|
|
BBB | I/O | Remark
|
|
|
|
|
------------ | ------------- | -------------
|
|
|
|
|
P9.24 RX | IN | 3.3 Volt
|
|
|
|
|
P9.26 TX | OUT | 3.3 Volt
|
2015-02-27 16:41:38 -04:00
|
|
|
|
|
|
|
|
### Sound (PWM)
|
|
|
|
|
|
|
|
|
|
BBB | Speaker | Remark
|
|
|
|
|
------------ | ------------- | -------------
|
|
|
|
|
P8.36 | PWM | Use a power amplifier
|
