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projects:crazyflie2:expansionboards:index [2018-06-21 10:07]
tobias [Expansion port pinout]
projects:crazyflie2:expansionboards:index [2019-02-14 14:24] (current)
kristoffer
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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:​expansionboards:​template|Expansion board template]]: The Crazyflie 2.0 expansion port template explained
 ===== Mechanical architecture ===== ===== Mechanical architecture =====
  
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 | 0xBC | 0x0E | bcZRanger2 | Z-Ranger v2 | 1.3g | ~15mA | Below | 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 | 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. ​ 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. ​
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 |   ​^ ​ 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 | +bcMultiranger | | | X | X | | | | | | | | | | | | VCOM | 
-bcMocap | | | | | | //(X)// | //(X)// | | | | | | | | | N/A |+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.1529568426.txt.gz · Last modified: 2018-06-21 10:07 by tobias