diff --git a/book/hardware-accessorybay.md b/book/hardware-accessorybay.md index f21ed09..f1731bf 100644 --- a/book/hardware-accessorybay.md +++ b/book/hardware-accessorybay.md @@ -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. @@ -32,15 +32,15 @@ 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. @@ -48,14 +48,14 @@ Pin | Name | Description 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. @@ -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). @@ -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) @@ -132,7 +145,7 @@ Use the /dev/serial/by-id/ 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.