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projects:crazyflie2:expansionboards:index [2017-05-11 16:28] arnaud [Deck pin allocation] |
projects:crazyflie2:expansionboards:index [2020-05-12 13:58] kimberly |
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+ | <WRAP center round important 60%> | ||
+ | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// | ||
+ | </ | ||
+ | |||
+ | |||
====== Expansion decks ====== | ====== Expansion decks ====== | ||
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* [[projects: | * [[projects: | ||
* [[projects: | * [[projects: | ||
+ | * [[projects: | ||
* [[projects: | * [[projects: | ||
* [[projects: | * [[projects: | ||
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* [[projects: | * [[projects: | ||
* [[projects: | * [[projects: | ||
- | * [[projects: | + | * [[projects: |
+ | * [[projects: | ||
+ | * [[projects: | ||
+ | * [[projects: | ||
+ | [[projects: | ||
===== Mechanical architecture ===== | ===== Mechanical architecture ===== | ||
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{{: | {{: | ||
- | The NRF51 pins can be multiplexed with any of the available NRF51 peripheral. The STM32F405RG pins can be multiplexed with more functions, see datasheets | + | * 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 | ||
===== Expansion board detection ===== | ===== Expansion board detection ===== | ||
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| 0xBC | 0x06 | bcDWM | UWB LPS | 3.3g | 160mA | Below/Above | [[projects: | | 0xBC | 0x06 | bcDWM | UWB LPS | 3.3g | 160mA | Below/Above | [[projects: | ||
| 0xBC | 0x08 | bcUSD | Micro-SD | 1.7g | ~30mA | Below/Above | [[projects: | | 0xBC | 0x08 | bcUSD | Micro-SD | 1.7g | ~30mA | Below/Above | [[projects: | ||
- | | 0xBC | 0x09 | bcZRanger | Z-Ranger | 1.3g | ~30mA | Below | [[projects: | + | | 0xBC | 0x09 | bcZRanger | Z-Ranger | 1.3g | ~15mA | Below | [[projects: |
- | | 0xBC | 0x0A | bcFlow | Flow | 1.6g | ~40mA | Below | TBD | TBD | | + | | 0xBC | 0x0A | bcFlow | Flow | 1.6g | ~40mA | Below | [[projects: |
+ | | 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 | | ||
+ | | 0xBC | 0x10 | bcLighthouse4 | Lighthouse-4 | 2.7g | ~40mA | Above | N/A | N/A | | ||
===== Deck pin allocation ===== | ===== 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 connected | + | 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 | ||
| | | | ||
^ Name ^ RX1 ^ TX1 ^ SDA ^ SCL ^ IO1 ^ IO2 ^ IO3 ^ IO4 ^ TX2 ^ RX2 ^ CLK ^ MOSI ^ MISO ^ NIO1 ^ NIO2 ^ PWR ^ | ^ Name ^ RX1 ^ TX1 ^ SDA ^ SCL ^ IO1 ^ IO2 ^ IO3 ^ IO4 ^ TX2 ^ RX2 ^ CLK ^ MOSI ^ MISO ^ NIO1 ^ NIO2 ^ PWR ^ | ||
- | | bcLedRing | | | | | | PWM | PWM | | | | | | | | | VCOM | | + | ^ bcLedRing | | | | | | PWM | PWM | | | | | | | | | VCOM | |
- | | bcQi | | | | | | | | | | | | | | GHG | | N/A | | + | ^ bcQi | | | | | | | | | | | | | | GHG | | N/A | |
- | | bcGPS | X | X | | | //(PP)S// | | //(RST)// | | //(X)// | //(X)// | | | | | //(VBAT)// | VCOM | | + | ^ bcGPS | X | X | | | //(PP)S// | | //(RST)// | | //(X)// | //(X)// | | | | | //(VBAT)// | VCOM | |
- | | bcUSD | | | | | //(CS)// | //(CS)// | //(CS)// | CS | | | X | X | X | | | VCC | | + | ^ bcUSD | | | | | //(CS)// | //(CS)// | //(CS)// | CS | | | X | X | X | | | VCC | |
- | | bcDWM | IRQ | RST | | | CS | //(IRQ)// | //(RST)// | | | | X | X | X | | | VCOM | | + | ^ bcDWM | IRQ | RST | | | CS | //(IRQ)// | //(RST)// | | | | X | X | X | | | VCOM | |
- | | bcBigQuad | + | ^ bcBigQuad |
- | | bcBuzzer | | | | | | | | | PWM | PWM | | | | | | N/A | | + | ^ bcBuzzer | | | | | | | | | PWM | PWM | | | | | | N/A | |
- | | bcESP | | | | | | | | //(X)// | X | X | | | | | | N/A | | + | ^ bcESP | | | | | | | | //(X)// | X | X | | | | | | N/A | |
- | | bcZRanger | | | X | X | | //(X)// | | | | | | | | | | VCC | | + | ^ bcZRanger, bcZRanger2 |
- | | bcFlow | | | X | X | | //(X)// | X | | | | X | X | X | | | VCC | | + | ^ bcFlow, bcFlow2 |
+ | ^ bcOA | | | X | X | | | | | | | | | | | | VCC | | ||
+ | ^ bcMultiranger | | | X | X | | | | | | | | | | | | VCOM | | ||
+ | ^ bcMocap | | | | | | //(X)// | //(X)// | | | | | | | | | N/A | | ||
+ | ^ bcLighthouse4 | X | X | X | X | | | | | | | | | | | | N/A | | ||
+ | |||
+ | ===== Compatibility matrixes ===== | ||
+ | |||
+ | ==== Platform - deck ==== | ||
+ | |||
+ | This table shows which deck that works on which platform. | ||
+ | |||
+ | | ^ Crazyflie 2.X ^ Roadrunner ^ | ||
+ | ^ LED-ring | ||
+ | ^ Qi charger | ||
+ | ^ Micro-SD | ||
+ | ^ UWB LPS | yes | ||
+ | ^ Big quad | yes | yes | | ||
+ | ^ Buzzer | ||
+ | ^ bcESP | yes | yes | | ||
+ | ^ Z-Ranger, Z-Ranger V2 | yes | yes | | ||
+ | ^ Flow, Flow V2 | yes | yes | | ||
+ | ^ Multi-ranger | ||
+ | ^ Mocap marker deck | yes | yes | | ||
+ | ^ Lighthouse-4 | ||
+ | |||
+ | ==== Deck - deck ==== | ||
+ | |||
+ | This table shows which decks that can be used at the same time. | ||
+ | |||
+ | **Note**: This matrix is for unmodified decks and the standard firmware. Some decks | ||
+ | can be modified to use other pins on the expansion port and thus work with | ||
+ | decks that are marked as not compatible. Also decks that are normally physically | ||
+ | blocking each other are marked as not compatible. | ||
+ | |||
+ | | ^ LED-ring ^ Qi charger ^ Micro-SD ^ UWB LPS ^ Big quad ^ Buzzer ^ bcESP ^ Z-Ranger ^ Flow ^ Multi-ranger ^ Mocap marker deck ^ Lighthouse-4 ^ | ||
+ | ^ LED-ring | ||
+ | ^ Qi charger | ||
+ | ^ Micro-SD | ||
+ | ^ UWB LPS | yes | yes | *1 | ||
+ | ^ Big quad | | yes | yes | yes | ||
+ | ^ Buzzer | ||
+ | ^ bcESP | yes | yes | yes | yes | ||
+ | ^ Z-Ranger, Z-Ranger V2 | | | yes | yes | yes | yes | yes | ||
+ | ^ Flow, Flow V2 | ||
+ | ^ Multi-ranger | ||
+ | ^ Mocap marker deck | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | | yes | | ||
+ | ^ Lighthouse-4 | ||
+ | |||
+ | **Notes: | ||
+ | - SPI sharing issue, see https:// | ||
+ | - Will be supported in the future, SW update |