ETP 001 Drona Hardware and Peripherals

Originated by: Yangbo Long

Date: November 23, 2015

1. PURPOSE / DESCRIPTION

1.1 Introduce the DRONA hardware and the peripherals

2. PROCEDURE

2.1 Components and pin-outs

 

2.2 Peripheral usage
• Gyro – SPI1
• nRF – SPI2
• Accel – SPI3
• Accel – DMA0
• Gyro – DMA1
• Vmeas – DMA2
• nRF – DMA3, DMA4
• RC – IC1, IC2, IC3, IC4
• Camera – IC5, IC6 (software interrupts)
• Accel – INT0
• Gyro – INT1
• Camera – INT2 (PCLK), INT4 (VSYNC)
• nRF – INT3
• Camera – OC1 (XCLK)
• Motor – OC1 (only for dragonfly’s main motor)
• Gimbal – OC2
• Sonar – Timer2
• Voltage measurement (Vmeas) – Timer3
• Wing flapping – Timer4
• Loop control – Timer5
• Compass – Timer6
• CPU load – Timer8, Timer9
2.3 System architecture