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projects:crazyflie2:expansionboards:index

Expansion decks

Expansion board template: The Crazyflie 2.0 expansion port template explained

Mechanical architecture

Expansion boards can be installed on top, bottom, or both top and bottom of the Crazyflie 2.0. The Crazyflie 2.0 and expansion board have female, pass-through connectors that can be fitted with male pins. Pins in two differing lengths exist to permit installation of either one expansion board on top, one board on bottom and one on top, or two boards on top. There should always be one expansion board or battery holder on top to secure the battery, unless the battery is held by other means (ie. rubber band, sticky pad, etc…).

Orientation

WARNING: It is important to install expansion boards in the right orientation. Installing a board in the wrong orientation might damage the expansion board and the Crazyflie 2.0.

All expansion boards display a logo describing the correct orientation:

One expansion board on top

One expansion board on top, one on bottom

Two expansion board on top

Expansion port pinout

  • The Crazyflie 2.0 is a 3.0V system, meaning a high output will be 3.0V but still compatible with a 3.3V system.
  • VCC can supply max 100mA
  • VCOM can supply max 1.0A
  • All IO pins are 5V tolerant except PA5 and the NRF51 pins
  • The NRF51 pins can be multiplexed with any of the available NRF51 peripheral.
  • The STM32F405RG pins can be multiplexed with more functions.

For full specification see the datasheets of the NRF51 and the STM32F405

Expansion board detection

Expansion boards are detected by having a one-wire memory cabled on the OW pin. At startup memories are detected and read by the power management MCU, the nRF51822. If no incompatibility is detected the nRF51 starts the system and makes available the memories content to the application processor, the STM32F4, where the application code is running.

Deck info

VID PID ID Name Weight Consumption Mount location Details page Schematic
0xBC 0x01 bcLedRing LED-ring 3.3g 0 - 700mA Below link link
0xBC 0x02 bcQi Qi charger 5g N/A Below link link
0xBC 0x04 bcBuzzer Buzzer 1.8g 10mA Below/Above link link
0xBC 0x05 bcBigQuad Big quad 3.8g N/A Below/Above link link
0xBC 0x06 bcDWM UWB LPS 3.3g 160mA Below/Above link link
0xBC 0x08 bcUSD Micro-SD 1.7g ~30mA Below/Above link link
0xBC 0x09 bcZRanger Z-Ranger 1.3g ~15mA Below link link
0xBC 0x0A bcFlow Flow 1.6g ~40mA Below link link
0xBC 0x0B bcOA Obstacle Avoidance N/A ~0.3mA Above N/A N/A
0xBC 0x0C bcMultiranger Multi-ranger N/A ~90mA (depending on mode) Above N/A N/A
0xBC 0x0D bcMocap Mocap marker deck N/A 0mA Above N/A N/A
0xBC 0x0E bcZRanger2 Z-Ranger v2 1.3g ~15mA Below N/A N/A
0xBC 0x0F bcFlow2 Flow v2 1.6g ~40mA Below N/A N/A

Deck pin allocation

Below is a table showing which pins each deck uses. The table also contains information about boards that are not released yet, these are subject to change.

Assignments in parenthesis are unconnected but connectable via solder bridges or 0 Ohm resistors and are thus alternative connections. The idea is to make it possible to re-route a connection if you want to use two decks where the connections collide.

UART1 I2C STM32 IO UART2 SPI nRF51 IO
Name RX1 TX1 SDA SCL IO1 IO2 IO3 IO4 TX2 RX2 CLK MOSI MISO NIO1 NIO2 PWR
bcLedRing PWM PWM VCOM
bcQi GHG N/A
bcGPS X X (PP)S (RST) (X) (X) (VBAT) VCOM
bcUSD (CS) (CS) (CS) CS X X X VCC
bcDWM IRQ RST CS (IRQ) (RST) X X X VCOM
bcBigQuad (X) (X) (X) (X) X X (X) X X (X) (X) (X) N/A
bcBuzzer PWM PWM N/A
bcESP (X) X X N/A
bcZRanger X X (X) VCC
bcFlow X X (X) X X X X VCC
bcOA X X VCC
bcMultiranger X X VCOM
bcMocap (X) (X) N/A
projects/crazyflie2/expansionboards/index.txt · Last modified: 2018-10-30 13:37 by kristoffer