mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
69 lines
2.0 KiB
Markdown
69 lines
2.0 KiB
Markdown
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#Hardware
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## Load device tree
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To load the BBBMINI device tree type `startup.sh load`.
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## Build dtbo file
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To rebuild the dtbo file type `make` and than `make install`to copy the dtbo file to `/lib/firmware`.
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## Pin assigment
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### RCInput
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BBB | RC Receiver | Remark
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------------ | ------------- | -------------
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P8.15 RC_IN | RC Out (Spektrum / PPM-sum)
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### RCOutput
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BBB | ESC / Servo | Remark
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------------ | ------------- | -------------
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P8.28 | RC_OUT_CH_1 | Use level shifter 3.3 Volt to 5 Volt
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P8.27 | RC_OUT_CH_2 | Use level shifter 3.3 Volt to 5 Volt
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P8.30 | RC_OUT_CH_3 | Use level shifter 3.3 Volt to 5 Volt
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P8.29 | RC_OUT_CH_4 | Use level shifter 3.3 Volt to 5 Volt
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P8.40 | RC_OUT_CH_5 | Use level shifter 3.3 Volt to 5 Volt
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P8.39 | RC_OUT_CH_6 | Use level shifter 3.3 Volt to 5 Volt
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P8.42 | RC_OUT_CH_7 | Use level shifter 3.3 Volt to 5 Volt
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P8.41 | RC_OUT_CH_8 | Use level shifter 3.3 Volt to 5 Volt
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P8.44 | RC_OUT_CH_9 | Use level shifter 3.3 Volt to 5 Volt
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P8.43 | RC_OUT_CH_10 | Use level shifter 3.3 Volt to 5 Volt
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P8.46 | RC_OUT_CH_11 | Use level shifter 3.3 Volt to 5 Volt
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P8.45 | RC_OUT_CH_12 | Use level shifter 3.3 Volt to 5 Volt
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### SPI0
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BBB | Sensor | Remark
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------------ | ------------- | -------------
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P9.22 | SPI0_SCLK | not used
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P9.21 | SPI0_MISO | not used
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P9.18 | SPI0_MOSI | not used
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P9.17 | SPI0_CS | not used
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### SPI1
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BBB | Sensor | Remark
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------------ | ------------- | -------------
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P9.31 | SPI1_SCLK | MPU9250, MS5611
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P9.29 | SPI1_MISO | MPU9250, MS5611
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P9.30 | SPI1_MOSI | MPU9250, MS5611
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P9.28 | SPI1_CS0 | MPU9250 CS
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P9.19 | SPI1_CS1 | MS5611 CS
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### UART4
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BBB | Sensor | Remark
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------------ | ------------- | -------------
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P9.11 UART4_RXD | not used
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P9.13 UART4_TXD | not used
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### UART5 GPS
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38400,8,n,1
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BBB | Sensor | Remark
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------------ | ------------- | -------------
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P8.38 UART5_RXD | GPS_TXD |
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P8.37 UART5_TXD | GPS_RXD |
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### Sound (PWM)
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BBB | Speaker | Remark
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------------ | ------------- | -------------
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P8.36 | PWM | Use a power amplifier
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