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* Create info.md * Add files via upload * Create capterCat.md * Rename capterCat.md to copterCat.md * Create copterCat.md * Remove already present article * Use lowercase * Remove unused assets * Editing * Add to summary Co-authored-by: Oleg Kalachev <okalachev@gmail.com>
138 lines
4.6 KiB
Markdown
138 lines
4.6 KiB
Markdown
# CopterCat_cm4
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[CopterHack-2022](copterhack2022.md), команда **CopterCat**.
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<img src="../assets/copter_cat/logo.svg" width="500">
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## Team Information
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Line-up:
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* Lapin Matvey (https://t.me/l_motya), engineer/programmer.
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* Konovalov Evgeny (https://t.me/egnknvlv), engineer/friend.
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* Skandakov Egor (https://t.me/hjbaa), friend.
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* Jalilov Emil, friend.
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## Project Description
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Development of a modern board for PX4 FMUv6U firmware, 55x40 mm sizes and an additional WiFi module to implement cool things, for example, a distributed network.
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### Project idea
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Flight controller on stm32h7 with space for RPi CM4 and built-in ESP32 to create a distributed network.
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### Planned results
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FMUv6U flight controller board and API for interacting with a distributed network via RPi.
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### Using the "Clover" platform
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At the stage of the project: debugging and demonstration of capabilities. After: using CopterCat as the main one.
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## Specification
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### FMU
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* STM32H753IIK6 480Mhz Cortex-M7
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* 2Mb + 256Kb FLASH
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* 1Mb RAM
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* ICM20602, ICM42605, BMI088, BMP388, BMM150
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* Fully compliant with FMU-v6u standard
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### Raspberry Pi
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* Support for RPi CM4 board.
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* SD card slot.
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* Ability to flash the built-in eMMC.
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* CAT24C256 EEPROM.
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* Support 2 cameras (CAM0 is two lines, CAM1 is four lines).
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* USB-OTG support.
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### ESP32
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* 16MB external FLASH (W25Q128JVS).
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* 8MB external PSRAM (LY68L6400SLIT).
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* Built-in antenna.
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* USB-TTL converter.
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### Remaining
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* USB-HUB USB2514B.
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* USB-PD with physical switching.
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* Communication between ESP32 and STM32 via UART.
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* 3 power options.
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* 4 universal GPIOs from ESP32.
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* USB Type-C.
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* Dimensions 40x55mm, board 4 layers.
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## Connectors and jumpers
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1. GPIO ESP32 4 I/O ports for connecting external equipment.
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2. RPi CM4 connectors.
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3. ESC pins 8 pcs.
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4. Programming and debugging pins for JTAG STM32.
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5. Camera connectors (22 pin cable with 0.5 mm distance between conductors).
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6. Contact for connecting the address tape.
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7. Main power contacts 5V.
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8. JST-6 standard PX4 power cable.
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9. JST-6 GPS+compass+5V.
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10. JST-4 I2C+5В.
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11. USB Type-C.
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12. JST-4 UART7+5В.
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13. JST-4 I2C RPi+3.3B for connecting a rangefinder.
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14. JST-4 UART5+5V.
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15. JST-5 Standard connector for connecting the control receiver.
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16. SD card slot (for RPi).
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17. Jumper BOOT for STM32.
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18. RPIBOOT jumper for flashing the RPi CM4 eMMC module.
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19. Jumper for switching the USB connector operation mode (when the jumper is closed, USB works as a HUB input and when connected to a computer, STM32, ESP32 and RPi CM4 in OTG mode will be displayed; when the jumper is open, USB will work to connect external devices to the RPi, for example stereo cameras).
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## Firmware download
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### FMU
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When you first start, the microcontroller will have to load the PX4-bootloader through the JTAG port. detailed instructions [here](https://docs.px4.io/master/en/software_update/stm32_bootloader.html#stm32-bootloader).
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To connect to a computer:
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1. Close jumper 19.
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2. Connect USB Type-C to your computer.
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3. The device should appear in [QGC](http://qgroundcontrol.com).
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You can also flash firmware via RPi:
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1. Install the RPi CM4 into the connector on the board.
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2. Open jumper 19.
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3. The device will appear in the `/dev` folder on the RPi.
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### ESP32
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You can write a program either in [Arduino IDE](https://www.arduino.cc/en/software) or in [VS Code](https://code.visualstudio.com) with the plugin [esp-idf](https://habr.com/ru/post/530638/). Then compile and upload to the microcontroller. You can download in two ways.
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From computer:
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1. Close jumper 19
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2. CP2104 will appear in the connected devices
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3. Download the firmware according to the instructions for the selected IDE
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With RPi CM4:
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1. Install the RPi CM4 into the connector on the board.
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2. Open jumper 19.
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3. Compile your code to .bin format.
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4. Upload the resulting file to the RPi.
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5. Download the firmware to the microcontroller using esptool.py [description+installation](https://docs.espressif.com/projects/esptool/en/latest/esp32/index.html).
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### RPi CM4
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The SD card slot works like a standard RPi. For boards with eMMC, the boot order of the operating system does not differ from the CM4 IO Board [instruction](https://www.jeffgeerling.com/blog/2020/how-flash-raspberry-pi-os-compute-module-4-emmc-usbboot).
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## General information
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* All files required for ordering are located in the `/gerbers` folder [here](https://github.com/matveylapin/CopterCat_cm4).
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* The project was made in the program [KiCAD v6](https://www.kicad.org).
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* Component Libraries are from [snapeda](https://www.snapeda.com).
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