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Details the mapping between peripherals on Solo #249

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Details the mapping between peripherals on Solo #249

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Details the mapping between peripherals on Solo
njoubert Dec 29, 2015
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Update hardware-accessorybay.md
njoubert Dec 29, 2015
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14 changes: 14 additions & 0 deletions book/hardware-accessorybay.md
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Expand Up @@ -42,6 +42,20 @@ CAN - Uses the [UAVCAN](http://uavcan.org/UAVCAN) protocol and interfaces direct

USB - USB Host device to the iMX6 co-processor.

## 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 |

## 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).