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projects:crazyflie2:expansionboards:bigquad [2016-10-10 10:43]
tobias [Current firmware status notes (2016-03)]
projects:crazyflie2:expansionboards:bigquad [2021-06-24 16:09] (current)
kimberly
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 +This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/]] and go to the menu 'products'.
 +</WRAP>
 +
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 The BigQuad deck is currently part of our [[https://www.bitcraze.io/early-access/|early access program]]. To better understand what this means also have a look at our [[https://www.bitcraze.io/product-cycle/|Product cycle]]. The BigQuad deck is currently part of our [[https://www.bitcraze.io/early-access/|early access program]]. To better understand what this means also have a look at our [[https://www.bitcraze.io/product-cycle/|Product cycle]].
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 BigQuad expansion deck {{:projects:crazyflie2:expansionboards:bigquad-revc.pdf|schematic}}. BigQuad expansion deck {{:projects:crazyflie2:expansionboards:bigquad-revc.pdf|schematic}}.
  
 +===== Compatibility with Loco deck, microSD and Flow (v2) deck =====
 +
 +{{ :projects:crazyflie2:expansionboards:bigquaddeck-remove-c1.png?nolink|}}
 +The Loco deck, microSD and Flow (v2) deck all uses the SPI bus. As the BigQuad deck uses the deck SPI buss pins for possible voltage and current measurement, and they are multiplexed with analog input, the BigQuad deck is not out-of-the-box compatible with these decks. This can fixed:
 +  - By removing capacitor C1 on the BigQuad deck. See image on the right.
 +  - Not having BQ_DECK_ENABLE_PM defined.
 +  - Disabling the extRx functionality by commenting out [[https://github.com/bitcraze/crazyflie-firmware/blob/master/src/deck/drivers/src/bigquad.c#L84|extRxInit()]] in bigquad.c
 +Capacitor C1 is used to filter the current measurement and removing this has the effect that it will not be filtered any more. Still possible to use it if a deck using the SPI is not wanted any more.
 +
 +To make it work with the Flow (v2) deck more changes/patching are needed.
 +  - The Flow HW ChipSelect (IO3) interfere with BigQuad PWM and needs to be moved. Cut trace and solder patch on Flow deck from IO3 to IO1.
 +  - Change the CS pin in [[https://github.com/bitcraze/crazyflie-firmware/blob/master/src/deck/drivers/src/flowdeck_v1v2.c#L72|flowdeck_v1v2.c]] (IO3 -> IO1)
 +
 +Next problem is how to mount the deck in a nice way on the quad, we leave that up to you.
 ====== Setting up ====== ====== Setting up ======
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 Currently there is only a basic setup but as the development advances so will the documentation. Currently there is only a basic setup but as the development advances so will the documentation.
-Start by mounting the big quad deck on the frame. After that connect the ESCs according to the diagrams below.+Start by mounting the big quad deck on the frame. After that connect the ESCs according to the diagrams below. **Note** that the 5V is needed for the motor signals and is not optional.
  
 ===== Basic connection diagram ===== ===== Basic connection diagram =====
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 Clean and build the firmware and flash it using you preferred method. Clean and build the firmware and flash it using you preferred method.
 Now when the Crazyflie 2.0 is started and it is connected to the BigQuad deck it will start outputting PWM signals to the ESC connectors. The motors [[https://forum.bitcraze.io/viewtopic.php?f=6&t=2069#p10502|will not spin during the Crazyflie 2.0 power on self-test]] (POST). Now when the Crazyflie 2.0 is started and it is connected to the BigQuad deck it will start outputting PWM signals to the ESC connectors. The motors [[https://forum.bitcraze.io/viewtopic.php?f=6&t=2069#p10502|will not spin during the Crazyflie 2.0 power on self-test]] (POST).
-===== Current firmware status notes (2016-03)=====+===== Current firmware status notes (2019-10)=====
   * CPPM input is working but calibration and dynamic channel setup is not implemented yet. Doing the first tests with cfclient and gamepad is wise but might not be as reliable as a RC transmitter and receiver, yet.   * CPPM input is working but calibration and dynamic channel setup is not implemented yet. Doing the first tests with cfclient and gamepad is wise but might not be as reliable as a RC transmitter and receiver, yet.
   * When the BQ-Deck is detected it will automatically switch to brushless motor drivers. It will be noted in the cfclient console if it is detected or not.   * When the BQ-Deck is detected it will automatically switch to brushless motor drivers. It will be noted in the cfclient console if it is detected or not.
   * 1mbit or 2mbit datarate seem to be more stable when communicating with the BigQuad deck attached. It is wise to do a range test before flying far away.   * 1mbit or 2mbit datarate seem to be more stable when communicating with the BigQuad deck attached. It is wise to do a range test before flying far away.
-  * Different PID tuning parameters might be needed for it to fly well. Currently this has to be [[https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/pid.h#L34|hard coded]]. Later this will be saved in the EEPROM or in the 1-wire memory.+  * Different PID tuning parameters might be needed for it to fly well. Currently this has to be [[https://github.com/bitcraze/crazyflie-firmware/blob/269730f369b4df34535708d13274abebacb71b5a/src/modules/interface/pid.h|hard coded]]. Later this will be saved in the EEPROM or in the 1-wire memory.
   * External battery voltage/current reading is implemented but no logic behind it, so don't run out of battery. You can connect the cable (MON port) and watch the log variable.   * External battery voltage/current reading is implemented but no logic behind it, so don't run out of battery. You can connect the cable (MON port) and watch the log variable.
-  * The PWM output is set to 400Hz. Use ESCs which can handle this or compile with [[https://github.com/bitcraze/crazyflie-firmware/blob/master/drivers/interface/motors.h#L89|new value]].+  * The PWM output is set to 400Hz. Use ESCs which can handle this or compile with [[https://github.com/bitcraze/crazyflie-firmware/blob/269730f369b4df34535708d13274abebacb71b5a/src/drivers/interface/motors.h#L92|new value]]. There is also the possibility to [[https://github.com/bitcraze/crazyflie-firmware/blob/269730f369b4df34535708d13274abebacb71b5a/src/drivers/interface/motors.h#L65|enable]] OneShot125 output.
   * **Be safe**, it is experimental software. Run all testing **without** props!   * **Be safe**, it is experimental software. Run all testing **without** props!
 ====== Reference setup ====== ====== Reference setup ======
projects/crazyflie2/expansionboards/bigquad.1476089003.txt.gz · Last modified: 2016-10-10 10:43 by tobias