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Merge pull request #308 from 3drobotics/njoubert-patch-1
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Details the mapping between peripherals on Solo
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@mrpollo
mrpollo committed Apr 26, 2016
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Expand Up @@ -6,7 +6,7 @@ Accessory developers can attach hardware using the holes provided and connect to

## Mechanical

The accessory area is roughly 7.6 cm wide x 13.3 cm long x 10.2 cm deep.
The accessory area is roughly 7.6 cm wide x 13.3 cm long x 10.2 cm deep.

Maximum payload of the system is 700g, the 3DR Gimbal + GoPro weigh approximately 390g, leaving 310g for accessories that are meant to be used with the 3DR Gimbal.

Expand All @@ -32,30 +32,30 @@ The mating connector part number is [JAE SJ038252](https://jae-connectors.com/en
The pinout of the *Accessory Port* is:

Pin | Name | Description
--- | --- | ---
--- | --- | ---
1. | USB D- | Negative differential data signal to iMX6 OTG USB port.
2. | USB D+ | Positive differential data signal to iMX6 OTG USB port.
3. | N/C |
4. | N/C |
5. | N/C |
6. | N/C |
7. | N/C |
8. | N/C |
3. | N/C |
4. | N/C |
5. | N/C |
6. | N/C |
7. | N/C |
8. | N/C |
9. | SER5 TX (DEBUG) | UART5 TX output from Pixhawk™ 2.
10. | SER2RT | UART2 RTS output from Pixhawk™ 2 for flow control. Connect to device's CTS pin.
11. | SER2Tx | UART3 RX signal to Pixhawk™ 2. Connect to device's TX pin. Voltage is 3.3V.
12. | CANH1 | CAN bus high to the Pixhawk™ 2.
13. | CANL1 | CAN bus low to the Pixhawk™ 2.
14. | GND | Ground reference on Solo system.
15. | BATT | 12V to 16.8V. Maximum combined current off bus (pins 15 and 30) is 1.1A (fuse: 1812L110/24DR). Maximum combined power 18.5W.
16. | USB GND |
16. | USB GND |
17. | +5V | 4.75V to 5.4V voltage pin for USB device. Maximum combined current off bus (pins 17 and 19) is 1.05A (fuse: ST890DTR). Maximum combined power 5.7W.
18. | N/C |
18. | N/C |
19. | +5V | 4.75V to 5.4V voltage pin for USB device. Maximum combined current off bus (pins 17 and 19) is 1.05A (fuse: ST890DTR). Maximum combined power 5.7W.
20. | N/C |
20. | N/C |
21. | GND | Ground reference on Solo system.
22. | N/C |
23. | BUS ID |
22. | N/C |
23. | BUS ID |
24. | SER5 RX (DEBUG) | UART5 RX input to Pixhawk™ 2.
25. | SER2CT | UART2 CTS input to Pixhawk™ 2 for flow control. Connect to device's RTS pin.
26. | SER2Rx | UART3 TX signal from Pixhawk™ 2. Connect to device RX pin. Voltage is 3.3V.
Expand Down Expand Up @@ -84,7 +84,6 @@ The VCC 5V supply is also used as the backup supply for the Pixhawk™. Atte
*VCC Battery* can be used as a high-power supply for accessory hardware. The combined total current for both *VCC Battery* pins is limited to 1.1A (fuse: 1812L110/24DR) and the maximum power 18.5W.



### Accessory Breakout Board

An open source reference design for a breakout board can be found [here](https://github.com/3drobotics/Pixhawk_OS_Hardware/tree/master/Accessory_Breakout_X1).
Expand All @@ -94,11 +93,25 @@ The breakout board plugs into the accessory port. The exposed side of the board
![Accessory Breakout Board PCB (from below)](images/accessory_breakout_board_pcb_below.jpg)


### Peripheral Mapping

The accessory port breaks out a subset of the available peripherals of the Pixhawk2 and iMX. Here is the mapping between the different naming schemes of peripherals available on Solo.

| HAL | System | ArduCopter Parameter | Pixhawk2 | Solo Peripheral |
|-------------|--------------|-----------------------|----------|-----------------|
| px4io/sbus | /dev/ttyS0 | | | |
| uartA | /dev/ttyACM0 | | USB | |
| uartB | /dev/ttyS3 | SERIAL3 | GPS | Internal GPS |
| uartC | /dev/ttyS1 | SERIAL1 | Telem1 | |
| uartD | /dev/ttyS2 | SERIAL2 | Telem2 | Acc. Port |
| uartE | /dev/ttyS6 | SERIAL4 | Serial4 | Gimbal |
| nsh console | /dev/ttyS5 | | Serial5 | Acc. Port |



## Communication Architecture

The main communication channels between the Accessory Bay, Pixhawk™ and Companion Computer are shown below. Note that only USB is available for developer communication with Solo (the CAN and Serial/MAVLink channel is shown dashed for this reason).
The main communication channels between the Accessory Bay, Pixhawk™ and Companion Computer are shown below. Note that only USB is available for developer communication with Solo (the CAN and Serial/MAVLink channel is shown dashed for this reason).

![Accessory Bay System Architecture](images/solo_accessory_bay_system_diagram.png)

Expand Down Expand Up @@ -132,7 +145,7 @@ Use the <strong>/dev/serial/by-id/</strong> paths to access USB serial devices o

### USB Connection Speed

The USB routing on the mainboard does not meet the spec for USB “High Speed” (480Mbit/s), so the maximum in-spec speed is “Full Speed" (12Mbit/s). In practice most high speed devices should work.
The USB routing on the mainboard does not meet the spec for USB “High Speed” (480Mbit/s), so the maximum in-spec speed is “Full Speed" (12Mbit/s). In practice most high speed devices should work.

The actual throughput will depend on the device being used.

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