mirror of https://github.com/ArduPilot/ardupilot
404 lines
6.7 KiB
Markdown
404 lines
6.7 KiB
Markdown
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# SIYI N7 Flight Controller
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The SIYI N7 flight controller is sold by a range of
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resellers, linked from https://siyi.biz
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## Features
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- STM32H743 microcontroller
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- ICM20689 and BMI088 IMUs
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- internal heater for IMU temperature control
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- internal vibration isolation for IMUs
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- MS5611 SPI barometer
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- builtin IST8310 compass
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- microSD card slot
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- 4 UARTs plus USB
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- 13 PWM outputs
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- I2C and CAN ports
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- RCIN port
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- external safety Switch
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- voltage monitoring for servo rail and Vcc
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- power input port for external power bricks
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1)
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- SERIAL2 -> unused
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- SERIAL3 -> UART1 (GPS)
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- SERIAL4 -> UART4 (GPS2, Telem4/I2C)
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- SERIAL5 -> unused
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- SERIAL6 -> UART7 (debug port)
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- SERIAL7 -> USB2 (virtual port on same connector)
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The Telem1 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
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## Connectors
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Unless noted otherwise all connectors are JST GH
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### TELEM1 port
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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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### GPS1 port
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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>SCL I2C1</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>SDA I2C1</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>Button</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>7 (blk)</td>
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<td>button LED</td>
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<td>GND</td>
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</tr>
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<tr>
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<td>8 (blk)</td>
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<td>3.3V</td>
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<td>3.3</td>
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</tr>
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<tr>
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<td>9 (blk)</td>
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<td>buzzer</td>
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<td>GND</td>
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</tr>
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<tr>
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<td> (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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### GPS2, Telem4/I2C port
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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>SCL I2C2</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>SDA I2C2</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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### I2C
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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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### CAN1
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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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### POWER1
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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 (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>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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### USB
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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>D_minus</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>D_plus</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>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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## RC Input
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RC input is configured on the RCIN pin, at one end of the servo rail,
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marked RCIN in the above diagram. This pin supports all RC
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protocols.
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## PWM Output
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The SIYI N7 supports up to 13 PWM outputs. First first 8 outputs
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(labelled "MAIN") are controlled by a dedicated STM32F103 IO
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controller. These 8 outputs support all PWM output formats, but not
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DShot.
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The remaining 5 outputs (labelled AUX1 to AUX5) are the "auxiliary"
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outputs. These are directly attached to the STM32H743 and support all
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PWM protocols as well as DShot.
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All 13 PWM outputs have GND on the top row, 5V on the middle row and
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signal on the bottom row.
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The 8 main PWM outputs are in 3 groups:
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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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The 4 auxiliary PWM outputs are in 2 groups:
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- PWM 1, 2, 3 and 4 in group4
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- PWM 5 in group5
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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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## Battery Monitoring
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The board has a dedicated power monitor ports on a 6 pin
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connector. The correct battery setting parameters are dependent on
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the type of power brick which is connected.
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## Compass
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The SIYI N7 has one builtin IST8310 compass.
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## GPIOs
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The 5 AUX PWM ports can be used as GPIOs (relays, buttons, RPM etc).
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The numbering of the GPIOs for PIN variables in ArduPilot is:
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- PWM1 50
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- PWM2 51
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- PWM3 52
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- PWM4 53
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- PWM5 54
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## Analog inputs
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The SIYI N7 has 7 analog inputs
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- ADC Pin16 -> Battery Voltage
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- ADC Pin17 -> Battery Current Sensor
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## IMU Heater
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||
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The IMU heater in the SIYI N7 can be controlled with the
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BRD_HEAT_TARG parameter, which is in degrees C.
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## Loading Firmware
|
||
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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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