ETP 001 Drona Hardware and Peripherals

ETP 001 Drona Hardware and Peripherals

Originated by: <strong>Yangbo Long</strong> Date: <strong>November 23, 2015</strong> <h6>1. PURPOSE / DESCRIPTION</h6> 1.1 Introduce the DRONA hardware and the peripherals <h6>2. PROCEDURE</h6> 2.1 Components and pin-outs <a href="http://wiki.vairdo.com/wp-content/uploads/2015/11/p1.jpg"><img class="alignnone size-full wp-image-636" src="http://wiki.vairdo.com/wp-content/uploads/2015/11/p1.jpg" alt="p1" width="2781" height="847" /></a> &nbsp; <a href="http://wiki.vairdo.com/wp-content/uploads/2015/11/p2.jpg"><img class="alignnone size-full wp-image-637" src="http://wiki.vairdo.com/wp-content/uploads/2015/11/p2.jpg" alt="p2" width="2693" height="861" /></a> 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 <a href="http://wiki.vairdo.com/wp-content/uploads/2015/11/Drona.png"><img class="alignnone size-full wp-image-612" src="http://wiki.vairdo.com/wp-content/uploads/2015/11/Drona.png" alt="Drona" width="853" height="615" /></a> &nbsp; &nbsp; &nbsp; &nbsp;