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projects:crazyflie2:expansionboards:index [2017-10-05 13:41]
arnaud [Deck pin allocation] 		projects:crazyflie2:expansionboards:index [2020-05-12 13:58] (current)
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://www.bitcraze.io/documentation/system/]]
 +</WRAP>
 +
 +
 ====== Expansion decks ====== ====== Expansion decks ======
  
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   * [[projects:crazyflie2:expansionboards:buzzer|Buzzer expansion deck]]: The Buzzer expansion deck   * [[projects:crazyflie2:expansionboards:buzzer|Buzzer expansion deck]]: The Buzzer expansion deck
   * [[projects:crazyflie2:expansionboards:qi|Qi expansion deck]]: The Qi inductive charging expansion deck   * [[projects:crazyflie2:expansionboards:qi|Qi expansion deck]]: The Qi inductive charging expansion deck
 +  * [[projects:crazyflie2:expansionboards:qi1_2|Qi 1.2 deck]]: Qi 1.2 compatible wireless charging deck
   * [[projects:crazyflie2:expansionboards:proto|Prototype expansion deck]]: The prototype expansion deck   * [[projects:crazyflie2:expansionboards:proto|Prototype expansion deck]]: The prototype expansion deck
   * [[projects:crazyflie2:expansionboards:breakout|Breakout expansion deck]]: The breakout expansion deck   * [[projects:crazyflie2:expansionboards:breakout|Breakout expansion deck]]: The breakout expansion deck
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   * [[projects:crazyflie2:expansionboards:zranger|Z-ranger expansion deck]]: Expansion deck for precise height control.   * [[projects:crazyflie2:expansionboards:zranger|Z-ranger expansion deck]]: Expansion deck for precise height control.
   * [[projects:crazyflie2:expansionboards:bosch|Bosch Sensortec expansion deck]]: Expansion deck with a variety of Bosch Sensortec sensors   * [[projects:crazyflie2:expansionboards:bosch|Bosch Sensortec expansion deck]]: Expansion deck with a variety of Bosch Sensortec sensors
-  * [[projects:crazyflie2:expansionboards:template|Expansion board template]]: The Crazyflie 2.0 expansion port template explained+  * [[projects:crazyflie2:expansionboards:lighthouse|Lighthouse positioning deck]]: Expansion deck that supports the SteamVR Lighthouse positioning 
 +  * [[projects:crazyflie2:expansionboards:mocapmarker|Motion capture marker deck]]: Expansion deck where motion capture markers can easily be mounted 
 +  * [[projects:crazyflie2:aideck|AI-deck]]: Expansion deck with a camera, WiFi an AI on the edge MCU. 
 + 
 +[[projects:crazyflie2:expansionboards:template|Expansion board template]]: The Crazyflie 2.0 expansion port template explained
 ===== Mechanical architecture ===== ===== Mechanical architecture =====
  
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 {{:projects:crazyflie2:expansionboards:connector_multiplexing2.png?direct&900|}} {{:projects:crazyflie2:expansionboards:connector_multiplexing2.png?direct&900|}}
  
-The NRF51 pins can be multiplexed with any of the available NRF51 peripheral. The STM32F405RG pins can be multiplexed with more functions, see datasheets for more information.+  * 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 board detection =====
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 | 0xBC | 0x06 | bcDWM | UWB LPS | 3.3g | 160mA | Below/Above | [[projects:lps:deck|link]] | {{projects:lps:loco_deck_revd.pdf|link}} | | 0xBC | 0x06 | bcDWM | UWB LPS | 3.3g | 160mA | Below/Above | [[projects:lps:deck|link]] | {{projects:lps:loco_deck_revd.pdf|link}} |
 | 0xBC | 0x08 | bcUSD | Micro-SD | 1.7g | ~30mA | Below/Above | [[projects:crazyflie2:expansionboards:microsd|link]] | {{projects:crazyflie2:expansionboards:sdcard_schematics.pdf|link}} | | 0xBC | 0x08 | bcUSD | Micro-SD | 1.7g | ~30mA | Below/Above | [[projects:crazyflie2:expansionboards:microsd|link]] | {{projects:crazyflie2:expansionboards:sdcard_schematics.pdf|link}} |
-| 0xBC | 0x09 | bcZRanger | Z-Ranger | 1.3g | ~30mA | Below | [[projects:crazyflie2:expansionboards:zranger|link]] | {{ :projects:crazyflie2:expansionboards:z-ranger_rev.b.pdf|link}} |+| 0xBC | 0x09 | bcZRanger | Z-Ranger | 1.3g | ~15mA | Below | [[projects:crazyflie2:expansionboards:zranger|link]] | {{ :projects:crazyflie2:expansionboards:z-ranger_rev.b.pdf|link}} |
 | 0xBC | 0x0A | bcFlow | Flow | 1.6g | ~40mA | Below | [[projects:crazyflie2:expansionboards:flow|link]] | {{ :projects:crazyflie2:expansionboards:flow-deck_reve.pdf | link }} | | 0xBC | 0x0A | bcFlow | Flow | 1.6g | ~40mA | Below | [[projects:crazyflie2:expansionboards:flow|link]] | {{ :projects:crazyflie2:expansionboards:flow-deck_reve.pdf | link }} |
-| 0xBC | 0x0B | bcOA | Obstacle Avoidance | N/A | N/A | Above | N/A | N/A |+| 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 via solder bridges or 0 Ohm resistors.+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  ^^  |   ^  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  ^ ^  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  | //(X)// | //(X)// | //(X)// | //(X)// |  | **X** | **X** | //(X)// | **X** | **X** | //(X)// | //(X)// | //(X)// | | | N/A | +^ bcBigQuad  | //(X)// | //(X)// | //(X)// | //(X)// |  | **X** | **X** | //(X)// | **X** | **X** | //(X)// | //(X)// | //(X)// | | | N/A | 
-| 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 | | | X | X | | //(X)// | | | | | | | | | | VCC | 
-| bcFlow | | | X | X | | //(X)// | X | | | | X | X | X | | | VCC | +^ bcFlow, bcFlow2 | | | X | X | | //(X)// | X | | | | X | X | X | | | VCC | 
-| bcOA | | | X | X | | | | | | | | | | | | VCC |+^ 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              | yes           | yes        | 
 +^ Qi charger            | yes           | yes        | 
 +^ Micro-SD              | yes           | *1         | 
 +^ UWB LPS               | yes           |            | 
 +^ Big quad              | yes           | yes        | 
 +^ Buzzer                | yes           |            | 
 +^ bcESP                 | yes           | yes        | 
 +^ Z-Ranger, Z-Ranger V2 | yes           | yes        | 
 +^ Flow, Flow V2         | yes           | yes        | 
 +^ Multi-ranger          | yes           | yes        | 
 +^ Mocap marker deck     | yes           | yes        | 
 +^ Lighthouse-4          | yes           | *2         | 
 + 
 +==== 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              |          |            | yes      | yes     |          | yes    | yes   |          |      | yes          | yes               | yes          | 
 +^ Qi charger            |          |            | yes      | yes     | yes      | yes    | yes   |          |      | yes          | yes               | yes          | 
 +^ Micro-SD              | yes      | yes        |          | *1      | yes      | yes    | yes   | yes      | *1   | yes          | yes               | yes          | 
 +^ UWB LPS               | yes      | yes        | *1       |         | yes      | yes    | yes   | yes      | yes  | yes          | yes               | *2           | 
 +^ Big quad              |          | yes        | yes      | yes     |          |        |       | yes      |      | yes          | yes               | *2           | 
 +^ Buzzer                | yes      | yes        | yes      | yes     |          |        |       | yes      | yes  | yes          | yes               | yes          | 
 +^ bcESP                 | yes      | yes        | yes      | yes     |          |        |       | yes      | yes  | yes          | yes               | yes          | 
 +^ Z-Ranger, Z-Ranger V2 |          |            | yes      | yes     | yes      | yes    | yes   |          |      | yes          | yes               | yes          | 
 +^ Flow, Flow V2         |          |            | *1       | yes     |          | yes    | yes   |          |      | yes          | yes               | yes          | 
 +^ Multi-ranger          | yes      | yes        | yes      | yes     | yes      | yes    | yes   | yes      | yes  |              | yes               | yes          | 
 +^ Mocap marker deck     | yes      | yes        | yes      | yes     | yes      | yes    | yes   | yes      | yes  | yes          |                   | yes          | 
 +^ Lighthouse-4          | yes      | yes        | yes      | *2      | *2       | yes    | yes   | yes      | yes  | yes          | yes               |              |
  
 +**Notes:**
 +  - SPI sharing issue, see https://github.com/bitcraze/crazyflie-firmware/issues/270
 +  - Will be supported in the future, SW update
projects/crazyflie2/expansionboards/index.1507203719.txt.gz · Last modified: 2017-10-05 13:41 by arnaud

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