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HAL_ChibiOS: added CubeBlack docs
This commit is contained in:
Andrew Tridgell
parent
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libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/CubeBlack-pinout.jpg
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libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/CubeBlack-pinout.jpg
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libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/README.md
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libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/README.md
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# CubeBlack Flight Controller
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The Hex CubeBlack flight controller is sold by a range of resellers
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listed on the
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[ProfiCNC website](http://www.proficnc.com/content/13-pixhawk2)
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The full schematics of the board are available here:
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https://github.com/ArduPilot/Schematics/tree/master/ProfiCNC/The-Cube
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## Features
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- STM32F427 microcontroller
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- Two MPU9250 and one LSM303D/L3GD20 IMUs
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- internal heater for IMU temperature control
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- internal vibration isolation for first two 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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- 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 JST GH)
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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 -> UART3 (Telem2)
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- SERIAL3 -> UART4 (GPS)
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- SERIAL4 -> UART8 (GPS2)
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- SERIAL5 -> UART7 (spare, CONS)
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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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The CONS port was originally used as a debug console, but is now a
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general purpose UART (debug output is now on USB).
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## Connectors
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Unless noted otherwise all connectors are JST GH
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### TELEM1, TELEM2 ports
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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> (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 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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### CONS port
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The CONS port is an additional UART connected to SERIAL5. The pinout
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in the CONS port table below is ordered so that the GND pin is closest
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to the cube. The TX pin is closest to the servo rail.
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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</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>2</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>3</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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</tbody>
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</table>
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### SBUS Out port
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The SBUSo port is a port attached to the IO processor which can be
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used to output all servo channels via SBUS. It is enabled by setting
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the BRD_SBUS_OUT parameter.
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The pinout below for the SBUSo port is labelled so that GND is closest
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to the cube. The 5V pin on the SBUS output port is connected to the
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servo rail.
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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</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>2</td>
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<td>5v(Vservo)</td>
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<td>+5.0V</td>
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</tr>
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<tr>
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<td>3</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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</tbody>
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</table>
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### SPKT port
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The SPKT port provides a connector for Spektrum satellite
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receivers. It is needed to allow for software controlled binding of
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satellite receivers.
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The pinout of the SPKT port given below is given with the 3.3V power
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pin closest to the cube.
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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</td>
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<td>3.3v</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</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>3</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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</tbody>
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</table>
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### ADC
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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></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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### I2C2
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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&2
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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&2
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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>
|
||||
<td>GND</td>
|
||||
<td>GND</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
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||||
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||||
### USB
|
||||
|
||||
<table border="1" class="docutils">
|
||||
<tbody>
|
||||
<tr>
|
||||
<th>Pin </th>
|
||||
<th>Signal </th>
|
||||
<th>Volt </th>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>1 (red)</td>
|
||||
<td>VCC</td>
|
||||
<td>+5V</td>
|
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</tr>
|
||||
<tr>
|
||||
<td>2 (blk)</td>
|
||||
<td>D_plus</td>
|
||||
<td>+3.3V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>3 (blk)</td>
|
||||
<td>D_minus</td>
|
||||
<td>+3.3V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>4 (blk)</td>
|
||||
<td>GND</td>
|
||||
<td>GND</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>5 (blk)</td>
|
||||
<td>BUZZER</td>
|
||||
<td>battery voltage</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>6 (blk)</td>
|
||||
<td>Boot/Error LED</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
## RC Input
|
||||
|
||||
RC input is configured on the RCIN pin, at one end of the servo rail,
|
||||
marked RCIN in the above diagram. This pin supports all RC
|
||||
protocols. In addition there is a dedicated Spektrum satellite port
|
||||
which supports software power control, allowing for binding of
|
||||
Spektrum satellite receivers.
|
||||
|
||||
## PWM Output
|
||||
|
||||
The CubeBlack supports up to 14 PWM outputs. First first 8 outputs (labelled
|
||||
"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
|
||||
outputs support all PWM output formats, but not DShot.
|
||||
|
||||
The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxillary"
|
||||
outputs. These are directly attached to the STM32F427 and support all
|
||||
PWM protocols as well as DShot.
|
||||
|
||||
All 14 PWM outputs have GND on the top row, 5V on the middle row and
|
||||
signal on the bottom row.
|
||||
|
||||
The 8 main PWM outputs are in 3 groups:
|
||||
|
||||
- PWM 1 and 2 in group1
|
||||
- PWM 3 and 4 in group2
|
||||
- PWM 5, 6, 7 and 8 in group3
|
||||
|
||||
The 6 auxillary PWM outputs are in 2 groups:
|
||||
|
||||
- PWM 1, 2, 3 and 4 in group1
|
||||
- PWM 5 and 6 in group2
|
||||
|
||||
Channels within the same group need to use the same output rate. If
|
||||
any channel in a group uses DShot then all channels in the group need
|
||||
to use DShot.
|
||||
|
||||
## Battery Monitoring
|
||||
|
||||
The board has two dedicated power monitor ports on 6 pin
|
||||
connectors. The correct battery setting parameters are dependent on
|
||||
the type of power brick which is connected.
|
||||
|
||||
## Compass
|
||||
|
||||
The CubeBlack has two builtin compasses. One is a HMC5843 and the other
|
||||
is a part of the MPU9250 IMU. Due to potential interference the board
|
||||
is usually used with an external I2C compass as part of a GPS/Compass
|
||||
combination.
|
||||
|
||||
## GPIOs
|
||||
|
||||
The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
|
||||
use them you need to limit the number of these pins that is used for
|
||||
PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
|
||||
if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
|
||||
use as GPIOs.
|
||||
|
||||
The numbering of the GPIOs for PIN variables in ArduPilot is:
|
||||
|
||||
- PWM1 50
|
||||
- PWM2 51
|
||||
- PWM3 52
|
||||
- PWM4 53
|
||||
- PWM5 54
|
||||
- PWM6 55
|
||||
|
||||
## Analog inputs
|
||||
|
||||
The CubeBlack has 7 analog inputs
|
||||
|
||||
- ADC Pin2 -> Battery Voltage
|
||||
- ADC Pin3 -> Battery Current Sensor
|
||||
- ADC Pin4 -> Vdd 5V supply sense
|
||||
- ADC Pin13 -> ADC 3.3V Port pin1
|
||||
- ADC Pin14 -> ADC 3.3V Port pin2
|
||||
- ADC Pin15 -> ADC 6.6V port
|
||||
- ADC Pin103 -> RSSI voltage monitoring
|
||||
|
||||
## Loading Firmware
|
||||
|
||||
The board comes pre-installed with an ArduPilot compatible bootloader,
|
||||
allowing the loading of *.apj firmware files with any ArduPilot
|
||||
compatible ground station.
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
Thanks to [ProfiCNC](http://proficnc.com) for images
|
||||
Loading…
Reference in New Issue
Block a user