DRS_Pixhawk 2 17th march 2016

Pixhawk v2 Feature Overview Note: This document is derived from the specification of the Px4-V2 (Pixhawk)
Contents Goals for this iteration of the platform are: .......................................................................................... 4 Key design points ................................................................................................................................... 4 Pixhawk FMU Main Board ................................................................................................................. 4 Vibration Damped IMU board ........................................................................................................... 4 I/O ports ............................................................................................................................................. 4 System architecture ............................................................................................................................... 6 PWM Outputs .................................................................................................................................... 8 Peripheral Ports ................................................................................................................................. 8 Base Board ......................................................................................................................................... 8 Sensors ............................................................................................................................................. 10 Power Architecture .............................................................................................................................. 10 Power management module (separate from the FMU) .................................................................. 10 FMU and IO Power Supplies ............................................................................................................ 10 Power Sources ................................................................................................................................. 10 Power Brick Port .............................................................................................................................. 11 Servo Power ..................................................................................................................................... 11 Aux Power ........................................................................................................................................ 11 Servo rail .......................................................................................................................................... 11 USB Power ....................................................................................................................................... 11 Multiple Power Sources ................................................................................................................... 11 Summary .......................................................................................................................................... 12 Peripherals ....................................................................................................................................... 13 Peripheral Power (on power module) ......................................................................................... 13 Battery Backup ............................................................................................................................. 13 Voltage, Current and Fault Sensing .............................................................................................. 13 EMI Filtering and Transient Protection (on the normal Base Board, must be specified for externally supplied base boards.) ..................................................................................................................... 14 PIXHAWK 2 Series Interface Spec ........................................................................................................ 15 Interface Standard ....................................................................................................................... 15 Pixhawk 2 ..................................................................................................................................... 15 Pixhawk 2IO ................................................................................................................................. 15 Power 6 pos (ClikMate 6 pos 2.0mm) .......................................................................................... 15 Backup Power 6 pos ..................................................................................................................... 16 I2C -­‐ 4 pos (1 fitted as a stand alone, I2C_2, (old internal) .......................................................... 16 CAN (2 fitted) ............................................................................................................................... 16 UART GENERIC (autopilot side) .................................................................................................... 17 UART GPS (autopilot side, I2C is the original “External” bus) ...................................................... 17 UART 4 (I2C 2, the original “Internal” bus) .................................................................................. 17 UART 5(Debug) and S.Bus out ..................................................................................................... 18 Debug ( New Standard Debug) (Digikey PN for housing SM06B-­‐SURS-­‐TF(LF)(SN)-­‐ND) ............... 19 Analogue ...................................................................................................................................... 19 Spektrum ...................................................................................................................................... 20 HMI (Buzzer, USB, LEDs) .............................................................................................................. 20 Back Edge ( may rearrange to suit PCB layout) ............................................................................ 20 80 pin header (LONG TERM STANDARD!) .................................................................................... 22 Pin Changes from Pixhawk ............................................................................................................... 26 List of features changed on Pixhawk 2 from Pixhawk 1 ....................................................................... 29 Block Diagram ...................................................................................................................................... 30 System Power Distribution .................................................................................................................. 33 Goals for this iteration of the platform are: • An integrated, single board / box flight controller.
• Sufficient I/O for most applications without expansion.
• Improved ease-of-use.
• Improved sensor performance.
• Improved microcontroller resources.
• Increased reliability and reduced integration complexity.
• Reduced BoM and manufacturing costs.
Key design points • All-in-one design with integrated FMU and IO and lots of I/O ports.
• Improved manufacturability, designed for simpler mounting and case design.
• Separate power supplies for FMU and IO (see power architecture section).
• On-board battery backup for FMU and IO SRAM / RTC.
• Integration with the standard power brick.
Pixhawk FMU Main Board • STM32F427; flash 2MiB, RAM 256KiB.
• On-board 16KiB SPI FRAM
• MPU9250 or ICM 20xxx integrated accelerometer / gyro.
• MS5611 Baro
• All sensors connected via SPI.
• Micro SD interfaces via SDIO.
Vibration Damped IMU board • LSM303D integrated accelerometer / magnetometer.
• L3GD20 gyro.
• MPU9250 or ICM 20xxx Gyro / Accel
• MS5611 Baro
• All sensors connected via SPI.
I/O ports • 14 PWM servo outputs (8 from IO, 6 from FMU).
• R/C inputs for CPPM, Spektrum / DSM and S.Bus.
• Analogue / PWM RSSI input.
• S.Bus servo output.
• 5 general purpose serial ports, 2 with full flow control
• Two I2C ports
• One SPI port (un-buffered, for short cables only not recommended for use).
• Two CAN Bus interface.
• 3 Analogue inputs
• High-powered piezo buzzer driver. (On expansion board)
• High-power RGB LED. (I2C driver compatible Connected externally only)
• Safety switch / LED.
System architecture Pixhawk V2 continues with the PX4FMU+PX4IO architecture from the previous
generation, incorporating the two functional blocks in a single physical module.
Sensors
Serial 1
Serial 2
Orientation and Motion Serial 3
Serial 4
Serial 5
SPI_Int
SPI_Ext
I2C x 2
Data Comm FMU STM32F427 6x
Servo Control PWM
CAN x 2
Analogue 1
Analogue 1
Batt monitor
Aux Monitor
Piezo out
CPPM In
S.Bus in
RSSI in
8x PWM
R/C control IO STM32F100 Servo Control DSM in
Safety Switch and LED
S.Bus
out
PWM Outputs Pixhawk V2 has eight PWM outputs that are connected to IO and can be controlled
by IO directly via R/C input and on-board mixing even if FMU is not active (failsafe /
manual mode). Multiple update rates can be supported on these outputs in three
groups; one group of four and two groups of two. PWM signal rates up to 400Hz
can be supported.
Six PWM outputs are connected to FMU and feature reduced update latency. These
outputs cannot be controlled by IO in failsafe conditions. Multiple update rates can
be supported on these outputs in two groups; one group of four and one group of
two. PWM signal rates up to 400Hz can be supported.
All PWM outputs are ESD-protected, and they are designed to survive accidental
misconnection of servos without being damaged. The servo drivers are specified to
drive a 50pF servo input load over 2m of 26AWG servo cable.
PWM outputs can also be configured as individual GPIOs. Note that these are not
high-power outputs – the PWM drivers are designed for driving servos and similar
logic inputs only, not relays or LEDs.
Peripheral Ports Pixhawk V2 Differs from Pixhawk V1 in that all peripherals are connected through a
single 80 pin connector, and the peripherals are connected via a baseboard that can
be customised for each application
Base Board The initial base board features separate connectors for each of the peripheral ports
(with a few exceptions.
Five serial ports are provided. Serial 1 and 2 feature full flow control. Serial 3 is
recommended as the GPS port and has the safety button and (possibly the safety
led) as well as I2C for the compass and RGB LED. Serial 4 also has I2C, but on the
second bus, thus allowing two compass modules to be connected at the same time.
Serial 5 is available as a header underneath the board. Serial ports are 3.3V CMOS
logic level, 5V tolerant, buffered and ESD-protected.
The SPI port is not buffered; it should only be used with short cable runs. Signals are
3.3V CMOS logic level, but 5V tolerant. SPI is only available to test points on the
first base board, along with a CS and INT pin.
Analogue 1-3 are protected against inputs up to 12V, but scaled for 0-3.3V inputs.
The RSSI input supports either PWM or analogue RSSI. This input shares a pin with
S.Bus output - only one may be connected at a time.
CPPM, S.Bus and DSM/Spektrum input are unchanged from Pixhawk
The CAN ports are standard CAN-Bus; termination for one end of the bus is fixed
on-board. Drivers are on-board the FMU
The piezo port will drive most piezo elements in the 5 - 300nF range at up to
35V. it is intended to be extremely loud, with the achievable sound pressure level
limited by the sensitivity of the piezo element being driven.
I2C is direct driven, un-buffered, and pulled up to 3.3v on-board the FMU
Sensors All flight sensors in Pixhawk V2 are connected via SPI.
On-­‐board we have an MPU9250 or ICM 20xxx Gyro and Accelerometer, and a
MS5611 used in SPI mode.
On the vibration isolated board we have the L3GD20 gyro, the LSM303D
Accelerometer and magnetometer, another MPU9250 or ICM 20xxx, and MS5611
also used in SPI mode.
The board mounted sensors run on a separate bus to the Vibration isolated sensors.
Data-ready signals from all sensors are NO LONGER ROUTED
Power Architecture The Pixhawk V2 removes the power management from the FMU, it instead grows on
the Pixhawk power by removing the Servo rail as the primary source of backup
power for the FMU, and it leaves it there for the IO last chance failsafe.
The supply of 3.3v remain the same as Pixhawk 1
• Split digital and analogue power domains for FMU and sensors.
• Backup power for IO in the case of FMU power supply failure.
Power management module (separate from the FMU) Key features of the Pixhawk V2 power architecture:
• Single, independent 5V supply for the flight controller and peripherals.
• Integration with 2 power bricks or compatible alternative, including current and
voltage sensing.
• Low power consumption and heat dissipation.
• Power distribution and monitoring for peripheral devices.
• Protection against common wiring faults; under/over-voltage protection,
overcurrent protection, thermal protection.
• Brown-out resilience and detection.
FMU and IO Power Supplies Both FMU and IO operate at 3.3V, and each has its own private dual-channel
regulator. As in Pixhawk v1, each regulator features a power-on reset output tied to
the regulator’s internal power-up and drop-out sequencing.
Power Sources Power may be supplied to Pixhawk V2 via USB, via the power brick port, or the
second brick port. Each power source is protected against reverse-polarity
connections and back-powering from other sources.
The FMU + IO power budget is 250mA, including all LEDs and the Piezo buzzer.
Peripheral power is limited to 2.5A total.
Power Brick Port The brick port is the preferred power source for Pixhawk V2, and brick power will
always be selected if it is available.
Servo Power Pixhawk V2 supports both standard (5V) and high-voltage (up to 10V) servo power
with some restrictions.
IO will accept power from the servo connector up to 10V. This allows IO to failover
to servo power in all cases if the main power supply is lost or interrupted.
FMU and peripherals will NO LONGER accept power from the servo connector.
Aux Power Pixhawk V2 introduces a backup power port; this is set up the same as the primary
power input.
At input voltages over 5.7V power is locked out.
Pixhawk V2 and peripherals combined may draw up to 2.75A total when operating
on Aux power, provided that the Brick or other power source can supply the
required current.
Power is never supplied by Pixhawk V2 to servos.
Servo rail The I/O chip takes power up to 10.5v from the servo rail; this is used to revert to manual mode in the unfortunate event that the other two main sources of power fail. This is only useful for plane, and only useful if the I/O chip has been mapped correctly. USB Power Power from USB is supported for software update, testing and development
purposes. USB power is supplied to the peripheral ports for testing purposes,
however total current consumption must typically be limited to 500mA, including
peripherals, to avoid overloading the host USB port.
Multiple Power Sources When more than one power source is connected, power will be drawn from the
highest-priority source with a valid input voltage.
In most cases, FMU should be powered via the power brick or a compatible off
board regulator via the brick port or auxiliary power rail.
In desktop testing scenarios, taking power from USB avoids the need for a BEC or
similar servo power source (though servos themselves will still need external power).
Summary For each of the components listed, the input voltage ranges over which the device
can be powered from each input is shown.
FMU
IO
Peripherals
Brick port
Aux port
USB port
Servo rail
4 - 5.7V
4 - 5.7V
4 - 5.7V,
2.5A max
4 - 5.7V
4 – 5.7V
4 - 5.7V
2.5A max
4 - 5.7V
4 - 5.7V
4 - 5.7V
250mA max
NIL
4-10.5V
NIL
Peripherals Peripheral Power (on power module) Pixhawk V2 provides power routing, over/under voltage detection and protection,
filtering, switching, current-limiting and transient suppression for peripherals. Power
outputs to peripherals feature ESD and EMI filtering, and the power supply
protection scheme ensures that no more than 5.5V is presented to peripheral
devices. Power is disconnected from the peripherals when the available supply
voltage falls below 2.7V, or rises above approximately 5.7V.
Peripheral power is split into two groups:
• Serial 1 has a private 1.5A current limit, intended for powering a telemetry radio.
This output is separately EMI filtered and draws directly from the USB / Brick inputs.
Peak power draw on this port should not exceed 2A, which should be sufficient for a
30dBm transmitter of reasonable efficiency.
• All other peripherals share a 1A current limit and a single power switch. Peak
power draw on this port should not exceed 1.5A.
Each group is individually switched under software control.
The Spektrum / DSM R/C interface draws power from its own regulator, rather than
from either of the groups above. This port is switched under software control so that
Spektrum / DSM binding can be implemented. Spektrum receivers generally draw
~25mA.
S.Bus and CPPM receivers powered directly from the servo rail, and must support
the servo supply voltage.
Battery Backup Both the FMU and IO microcontrollers feature battery-backed real-time clocks and
SRAM. The on-board backup battery has capacity sufficient for the intended use of
the clock and SRAM, which is to provide storage to permit orderly recovery from
unintended power loss or other causes of in-air restarts.
The capacitors are recharged from the FMU 3.3V rail.
this will only function in the event of software existing to support this feature.
Voltage, Current and Fault Sensing The battery voltage and current reported by both bricks can be measured by the
FMU. In addition, the 5V unregulated supply rail can be measured (to detect brownout conditions). IO can measure the servo power rail voltage. Over-current
conditions on the peripheral power ports can be detected by the FMU. Hardware
lock-out prevents damage due to persistent short-circuits on these ports. The lockout can be reset by FMU software.
The under/over voltage supervisor for FMU provides an output that is used to hold
FMU in reset during brown-out events.
EMI Filtering and Transient Protection (on the normal Base Board, must be specified for externally supplied base boards.) EMI filtering is provided at key points in the system using high-insertion-loss passthrough filters. These filters are paired with TVS diodes at the peripheral connectors
to suppress power transients.
Reverse polarity protection is provided at each of the power inputs.
USB signals are filtered and terminated with a combined termination/TVS array.
Most digital peripheral signals (all PWM outputs, serial ports, I2C port) are driven
using ESD-enhanced buffers and feature series blocking resistors to reduce the risk
of damage due to transients or accidental misconnections.
PIXHAWK 2 Series Interface Spec
Scope of this Document
This document covers the complete interface standard and core mechanical, electrical and external
connection options of the Pixhawk 2 module series. Sections marked as LT (long term) are intended to
be kept stable to isolate vehicle from autopilot revisions.
Interface Standard Connector Series ● Low density: 0.1” over mould Futaba keyed servo connectors (Mfg. to be identified)
○ Cabling: AWG24, ribbon or round, iconic colour scheme
● Stack: Hirose DF17, 80pos, 4 mm stacking height, 0.5 mm pitch, drop-proof
● High density: JST-GH 1.25 mm
■ Cabling: AWG28, ribbon, iconic colour scheme
● Power Module: Molex Clik-Mate 2 mm for both main and backup power ( on bottom of
board?)
Pixhawk 2 Mechanical: 30x30 mm M3 mounting hole pattern, 35x35 mm footprint
80 position DF17 connector. Carries all autopilot interface connections.
●
●
●
●
Minimal (read: really minimal) electrical protection
No power management
3.8 to 5.7V operation (absolute maximum ratings)
4.0 to 5.5V operation (compliant rating)
Pixhawk 2IO Total connectivity
● I2C2
● 2x CAN: CAN1 and CAN2
● 4x UART: TELEM1, TELEM2, GPS (I2C 1 embedded), SERIAL4(I2C 2 embedded)
● 1x Console: CONSOLE (SERIAL5)
● 1x HMI: USB extender
Power 6 pos (ClikMate 6 pos 2.0mm) Pin #
Name
Dir
Wire Color
Description
1
VDD 5V Brick
in
red / gray
Supply from Brick to AP
2
VDD 5V Brick
in
red / gray
Supply from Brick to AP
3
BATT_VOLTAGE
_SENS_PROT
in
black
Battery voltage connector
4
BATT_CURRENT
in
black
Battery current connector
_SENS_PROT
5
GND
-
black
GND connection
6
GND
-
black
GND connection
Backup Power 6 pos Pin #
Name
Dir
Wire Color
Description
1
VDD 5V Brick
in
red / gray
Supply from Brick to AP
2
VDD 5V Brick
in
red / gray
Supply from Brick to AP
3
AUX_BATT_VOL
TAGE_SENS
4
AUX_BATT_CUR
RENT_SENS
in
black
Aux Battery current connector
5
GND
-
black
GND connection
6
GND
-
black
GND connection
Aux Battery voltage connector
I2C -­‐ 4 pos (1 fitted as a stand alone, I2C_2, (old internal) 1 connector: I2C2 bus
Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
out
red / gray
Supply to peripheral from AP
2
SCL
in/out
blue / black
SCL, 5V level, pull-up on AP
3
SDA
in/out
green / black
SDA, 5V level, pull-up on AP
4
GND
-
black
GND connection
CAN (2 fitted) 2 connectors: CAN1 and CAN2 buses
Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
out
red / gray
Supply to peripheral from AP
2
CAN_H
in/out
yellow / black
12V
3
CAN_L
in/out
green / black
12V
4
GND
-
black
GND connection
UART GENERIC (autopilot side) 2 connectors: TELEM1, TELEM2
Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
out
red / gray
Supply to GPS from AP
2
MCU_TX
out
yellow / black
3.3V-5.0V TTL level, TX of AP
3
MCU_RX
in
green / black
3.3V-5.0V TTL level, RX of AP
4
MCU_CTS (TX)
out
gray / black
3.3V-5.0V TTL level or TX of AP
5
MCU_RTS (RX)
in
gray / black
3.3V-5.0V TTL level or RX of AP
6
GND
-
black
GND connection
UART GPS (autopilot side, I2C is the original “External” bus) 1 connector: GPS
Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
in
red
Supply to GPS from AP
2
GPS_RX
in
black
3.3V-5.0V TTL level, TX of AP
3
GPS_TX
out
black
3.3V-5.0V TTL level, RX of AP
4
SCL
in
black
3.3V-5.0V I2C1
5
SDA
in/out
black
3.3V-5.0V I2C1
6
BUTTON
out
black
Signal shorted to GND on press
7
BUTTON_LED
out
black
LED Driver for Safety Button
8
GND
-
black
GND connection
UART 4 (I2C 2, the original “Internal” bus) 1 connector: GPS
Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
out
red / gray
Supply to GPS from AP
2
MCU_TX
out
yellow / black
3.3V-5.0V TTL level, TX of AP
3
MCU_RX
in
green / black
3.3V-5.0V TTL level, RX of AP
4
SCL
out
gray / black
3.3V-5.0V I2C2
5
SDA
in
gray / black
3.3V-5.0V I2C2
6
GND
-
black
GND connection
Wire Color
Description
UART 5(Debug) and S.Bus out 1 connector: FR-SKY TELEM? or Debug
Pin #
Name
Dir
1
S.Bus Out
out
3.3V-5.0V TTL level, TX of AP
2
MCU_TX
out
3.3V-5.0V TTL level, TX of AP
3
VDD_Servo
OUT
Servo rail voltage
4
MCU_RX
in
3.3V-5.0V TTL level, RX of AP
5
GND
out
GND
6
GND
out
GND
Debug ( New Standard Debug) (Digikey PN for housing SM06B-­‐SURS-­‐TF(LF)(SN)-­‐ND) IO DEBUG
Pin #
Name
Dir
Wire Color
Description
1
VDD 5V PEIPH
OUT
5V
2
IO_TX
out
3.3V-5.0V TTL level, TX of AP
IO_uart1 TX
3
IO_RX
in
3.3V-5.0V TTL level, RX of AP
IO_uart1 RX
4
IO-SWDIO
I/O
Serial wire debug I/O
5
IO-SWCLK
I/O
Serial wire Clock
6
GND
out
GND
FMU DEBUG
Pin #
Name
Dir
Wire Color
Description
1
VDD 5V PEIPH
OUT
5V
2
FMU_TX
(SERIAL 5)
out
3.3V-5.0V TTL level, TX of AP
FMU_uart5 TX
3
FMU_RX
(SERIAL 5)
in
3.3V-5.0V TTL level, RX of AP
FMU_uart5 RX
4
FMU-SWDIO
I/O
Serial wire debug I/O
5
FMU-SWCLK
I/O
Serial wire Clock
6
GND
out
GND
Analogue Pin #
Name
Dir
1
VDD_5V_Periph
out
2
Pressure sense in
in
3
GND
out
Wire Color
Description
GND
Spektrum Pin #
Name
Dir
1
VDD_3v3_spektru out
m
2
IO_USART1_RX
in
3
GND
out
Wire Color
Description
Independent supply 3v3.
GND
HMI (Buzzer, USB, LEDs) Pin #
Name
Dir
Wire Color
Description
1
VCC_5V
out
red / gray
Supply to GPS from AP
2
D_PLUS
in/out
green / black
3.3V
3
D_MINUS
in/out
red / black
3.3V
4
GND
-
black
GND connection
5
BE_LED
out
black
Boot / Error Led (FW updates)
6
BUZZER
out
gray / black
VBAT (8.4 - 42V)
Back Edge ( may rearrange to suit PCB layout) SERVO HEADER (0.1”, 1/1/15 power layout) Position
Name
Dir
Wire Color
Description
15
RC / SBUS IN
in/out
black
3.3V (4..5V powered)
14
MAIN_OUT_8
out
black
3.3V servo signal, servo rail power
13
MAIN_OUT_7
out
black
3.3V servo signal, servo rail power
12
MAIN_OUT_6
out
black
3.3V servo signal, servo rail power
11
MAIN_OUT_5
out
black
3.3V servo signal, servo rail power
10
MAIN_OUT_4
out
black
3.3V servo signal, servo rail power
9
MAIN_OUT_3
out
black
3.3V servo signal, servo rail power
8
MAIN_OUT_2
out
black
3.3V servo signal, servo rail power
7
MAIN_OUT_1
out
black
3.3V servo signal, servo rail power
6
AUX_OUT_6
out
black
3.3V servo signal, servo rail power
5
AUX_OUT_5
out
black
3.3V servo signal, servo rail power
4
AUX_OUT_4
out
black
3.3V servo signal, servo rail power
3
AUX_OUT_3
out
black
3.3V servo signal, servo rail power
2
AUX_OUT_2
out
black
3.3V servo signal, servo rail power
1
AUX_OUT_1
out
black
3.3V servo signal, servo rail power
80 pin header (LONG TERM STANDARD!) Pin #
Name
Dir
Description
1
FMU-SWDIO
i/o
Single wire debug io
2
!FMULED_AMBER
o
Boot error LED ( drive only, use Fet to control led)
3
FMU-SWCLK
o
single wire debug clock
4
I2C_2_SDA
i/o
I2C data io
5
!EXTERN_CS
o
chip select for external SPI (NC, just for debugging)
6
I2C_2_SCL
o
i2c clock
7
FMU-!RESET
i
reset pin for the FMU
8
PROT_SPARE_1
9
VDD_SERVO_IN
10
PROT_SPARE_2
11
EXTERN_DRDY
i
12
SERIAL_5_RX
i
13
GND
14
SERIAL_5_TX
15
GND
16
SERIAL_4_RX
17
SAFETY
18
SERIAL_4_TX
o
19
vdd_3V3_SPECT
RUM_EN
o
20
SERIAL_3_RX
i
21
PREASSURE_SE
NS_IN
ai
22
SERIAL_3_TX
o
23
AUX_BATT_VOL
TAGE_SENS
ai
Voltage sense for Aux battery input
24
ALARM
o
Buzzer PWM signal
25
AUX_BATT_CUR
ai
Current sense for Aux battery input
spare
i
power for last resort i/o failsafe
spare
interrupt pin for external SPI (NC, just for debugging)
System GND
o
System GND
i
Safety button input
enable for the spectrum voltage regulator
Analogue port, for pressure sensor, or Laser range
finder, or Sonar
RENT_SENS
26
IO-VDD_3V3
i
IO chip power, pinned through for debug
27
!VDD_5V_PERIP
H_EN
o
enable signal for Peripherals
28
!IOLED_SAFETY_P
ROT
o
IO-LED_SAFETY pinned out for IRIS
29
VBUS
i
vbus, voltage from USB plug
30
SERIAL2_RTS
31
OTG_DP1
i/o
DATA P from USB
32
SERIAL2_CTS
33
OTG_DM1
i/o
DATA M from USB
34
SERIAL2_RX
i
35
I2C_1_SDA
i/o
36
SERIAL2_TX
o
37
I2C_1_SCL
o
38
SERIAL1_RX
i
39
CAN_L_2
i/o
40
SERIAL1_TX
o
41
CAN_H_2
i/o
Canbus High signal driver on FMU
42
SERIAL1_RTS
43
!VDD_5V_PERIP
H_OC
i
error state message from Periph power supply
44
SERIAL1_CTS
45
!VDD_5V_HIPOW i
ER_OC
46
IO-USART1_TX
o
47
BATT_VOLTAGE
_SENS_PROT
ai
Voltage sense from main battery
48
IOUSART1_RX_SP
ECTRUM_DSM
o
signal from Spectrum receiver
49
BATT_CURRENT
ai
Current sense from main battery
I2C data i/o
I2C clock
Canbus Low signal driver on FMU
error state message from High power Periph power
supply
_SENS_PROT
50
FMU-CH1-PROT
o
51
SPI_EXT_MOSI
o
52
FMU-CH2-PROT
o
53
VDD_SERVO
i
54
FMU-CH3-PROT
o
55
!VDD_BRICK_VA
LID
i
56
FMU-CH4-PROT
o
57
!VDD_BACKUP_
VALID
i
58
FMU-CH5-PROT
o
59
!VBUS_VALID
i
60
FMU-CH6-PROT
o
61
VDD_5V_IN
i
62
PPM-SBUSPROT
i
63
VDD_5V_IN
i
64
S.BUS_OUT
o
65
IO-VDD_5V5
o
66
IO-CH8-PROT
o
67
SPI_EXT_MISO
i
68
IO-CH7-PROT
o
69
IO-SWDIO
i/o
70
IO-CH6-PROT
o
71
IO-SWCLK
o
72
IO-CH5-PROT
o
73
SPI_EXT_SCK
o
74
IO-CH4-PROT
o
75
IO-!RESET
i
External SPI, for debug only
VDD_Servo, for monitoring servo bus
main power valid signal
backup power valid signal
USB bus valid signal
main power into FMU from power selection
main power into FMU from power selection
power to RX
External SPI, for debug only
IO single wire debug i/o
IO single wire debug clock
External SPI, for debug only
IO reset pin
76
IO-CH3-PROT
o
77
CAN_L_1
i/o
78
IO-CH2-PROT
o
79
CAN_H_1
i/o
80
IO-CH1-PROT
o
Canbus Low signal driver on FMU
Canbus High signal driver on FMU
Pin Changes from Pixhawk FMU PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7 FMU PA8 PA9 PA10 PA11 PA12 PA13 PA14 PA15 FMU PB0 PB1 PB2 PB3 PB4 PB5 PB6 PB7 Pixhawk 1 FMU-­‐UART4_TX FMU-­‐UART4_RX BATT_VOLTAGE_SENS BATT_CURRENT_SENS VDD_5V_SENS SPI_INT_SCK SPI_INT_MISO SPI_INT_MOSI Pixhawk 1 !VDD_5V_PERIPH_EN VBUS IO-­‐USART1_TX OTG_FS_DM OTG_FS_DP FMU-­‐SWDIO FMU-­‐SWCLK ALARM Pixhawk 1 GYRO_DRDY MAG_DRDY 10k TO GROUND FMU-­‐SWO ACCEL_DRDY !VDD_BRICK_VALID CAN2_TX !VDD_SERVO_VALID FMU Pixhawk 1 PB8 FMU-­‐I2C1_SCL (OLD_EXT) PB9 FMU-­‐I2C1_SDA (OLD_EXT) PB10 FMU-­‐I2C2_SCL (OLD-­‐INT) Pixhawk2 Pixhawk2 Pixhawk2 EXTERN_DRDY !EXTERN_CS NC !VDD_BACKUP_VALID Pixhawk2 FMU-­‐I2C1_SCL FMU-­‐I2C1_SDA FMU-­‐I2C2_SCL PB11 FMU-­‐I2C2_SDA (OLD-­‐INT) FMU-­‐I2C2_SDA PB12 PB13 PB14 PB15 FMU PC0 PC1 PC2 CAN2_RX FRAM_SCK FRAM_MISO FRAM_MOSI Pixhawk 1 !VBUS_VALID !MPU_CS Pixhawk2 SPI_INT_MAG_!CS Reason for change Reason for change Reason for change Added Dev SPI to 80 pin Added Dev SPI to 80 pin Data ready pin not used Backup now comes from Aux plug, NOT SERVO Reason for change All External now, there is no internal I2C All External now, there is no internal I2C All External now, there is no internal I2C All External now, there is no internal I2C Reason for change On-­‐board HMC5983 Mag PC3 PC4 PC5 PC6 PC7 FMU PC8 PC9 PC10 PC11 PC12 PC13 PC14 PC15 FMU PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7 FMU PD8 PD9 PD10 PD11 PD12 PD13 PD14 PD15 FMU PE0 PE1 PE2 PE3 PE4 FMU_AUX_ADC1 FMU_AUX_ADC2 PRESSURE_SENS SERIAL_FMU_TO_IO SERIAL_IO_TO_FMU Pixhawk 1 SDIO_D0 SDIO_D1 SDIO_D2 SDIO_D3 SDIO_CK !GYRO_CS GPIO_EXT_1 !ACCEL_MAG_CS Pixhawk 1 CAN1_RX CAN1_TX SDIO_CMD FMU-­‐USART2_CTS FMU-­‐USART2_RTS FMU-­‐USART2_TX FMU-­‐USART2_RX !BARO_CS Pixhawk 1 FMU-­‐USART3_TX FMU-­‐USART3_RX !FRAM_CS FMU-­‐USART3_CTS FMU-­‐USART3_RTS FMU-­‐CH5 FMU-­‐CH6 MPU_DRDY Pixhawk 1 FMU-­‐UART8_RX FMU-­‐UART8_TX SPI_EXT_SCK VDD_3V3_SENSORS_EN !SPI_EXT_NSS AUX_BATT_VOLTAGE_SENS AUX_BATT_CURRENT_SENS Pixhawk2 !GYRO_EXT_CS !BARO_EXT_CS !ACCEL_MAG_EXT_CS Pixhawk2 Pixhawk2 Still connected…. Pixhawk2 !MPU_EXT_CS Added Aux Power brick Added Aux Power brick Reason for change IMU L3GD20 Gyro IMU MS5611 Baro IMU LSM303D Mag Accel Reason for change Reason for change Reason for change IMU MPU9250 or ICM
20xxx CS PE5 PE6 PE7 FMU PE8 PE9 PE10 PE11 SPI_EXT_MISO SPI_EXT_MOSI FMU-­‐UART7_RX Pixhawk 1 FMU-­‐UART7_TX FMU-­‐CH4 !VDD_5V_HIPOWER_OC FMU-­‐CH3 Pixhawk2 Reason for change PE12 PE13 PE14 PE15 IO PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7 IO PA8 PA9 PA10 !FMU-­‐LED_AMBER FMU-­‐CH2 FMU-­‐CH1 !VDD_5V_PERIPH_OC Pixhawk 1 IO-­‐CH1 IO-­‐CH2 SERIAL_IO_TO_FMU SERIAL_FMU_TO_IO VDD_SERVO_SENS RSSI_IN IO-­‐CH5 IO-­‐CH6 Pixhawk 1 PPM_INPUT IO-­‐USART1_TX IO-­‐USART1_RX PA11 Pixhawk2 Pixhawk2 IO-­‐
USART1_RX_SPECTRUM_DSM I/O_POWER_BREATHING PA12 PA13 PA14 PA15 IO PB0 PB1 PB2 PB3 PB4 PB5 PB6 RSSI_IN IO-­‐SWDIO IO-­‐SWCLK IO-­‐
!VDD_SERVO_IN_FAULT Pixhawk 1 IO-­‐CH7 IO-­‐CH8 Via 10k to ground IO-­‐SWO !SBUS_OUTPUT_EN SAFETY PB7 !VDD_BACKUP_VALID IO PB8 PB9 PB10 PB11 PB12 Pixhawk 1 IO-­‐CH3 IO-­‐CH4 SBUS_OUTPUT SBUS_INPUT Pixhawk2 FMU-­‐VDD_3V3 PB13 PB14 PB15 IO PC13 !IO-­‐LED_SAFETY !IO-­‐LED_BLUE !IO-­‐LED_AMBER Pixhawk 1 VDD_3V3_SPEKTRUM_EN Pixhawk2 Pixhawk2 !VDD_BRICK_VALID Reason for change Reason for change Just renamed. Same function Added breathing LED to IO PWM Reason for change Added to monitor power during an inflight reboot Added to monitor power during an inflight reboot Reason for change Added to monitor power during an inflight reboot Reason for change PC14 PC15 Pulled to 3.3v Pulled to ground To ID the hardware change 0x01 To ID the hardware change 0x01 List of features changed on Pixhawk 2 from Pixhawk 1 •
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three IMU's
o these consist of 2 on the IMU board
o 1 fixed to the FMU
two onboard compasses
o these consist of 1 on the IMU board
o 1 Fixed on the FMU
two Baros
o 1 on the IMU (this Baro will most likely be removed in favour of a dedicated
external Barometer.
o 1 Fixed on the FMU
Dual Power input
o This removes the option of redundancy from the Servo rail and replaces it with a
dedicated second power plug
o A dedicated power protection Zener diode and Fet have been added to protect
from voltages over 5.6v being applied to Aux input 2
o This is only on the "PRO" carrier board mini carrier board still draws the backup
from the servo rail.
only 2 FMU PWM out channels on the Mini carrier board. (10 PWM total)
Dual external I2C
o This allows for connection of items to either I2C port, potentially allowing two GPS /
Mag units to be plugged in without the Mags conflicting.
GPS_Puck with Safety and LED
o a single unit GPS / Mag / RGB / Safety button
Pixhawk 2 Hardware ID
o I physical Hardware ID has been added to the I/O of the Pixhawk 2. This
needs software to identify the board for debug purposes. This is the only nonsoftware method to tell the two Pixhawks apart.
Breathing LED on cube. Comes on solid with default settings on the pin. Is connected to a
PWM pin, and as such could be made to Breath,
Power monitoring pins are now routed to the I/O chip, these will allow for the logging of
power events during an inflight reboot.
o Brick OK, Backup OK, and FMU 3.3V are all connected to a digital pin on the I/O
via a 220Ohm resister.
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