P1 autopilot (flight control)
Introduction：
open source license
This hardware design is released under the CC-BY-NC-SA 4.0 license, intended solely for DIY learning and exchange among enthusiasts. Any commercial use and sale without my permission is strictly prohibited. This design is provided as is, without any form of job security/after-sales warranty. I am not responsible for any consequences and joint liabilities arising from personal and property damage/injury to the creator or third parties due to product design, improper operation, or violation of local laws and regulations.
CC-BY-NC-SA 4.0, Creative Commons Attribution-NonCommercial-ShareAlike License.
CC: Abbreviation of Creative Commons license.
BY: Attribution, you must provide appropriate attribution, including a link to this license agreement, and indicate whether modifications have been made to the original work.
SA: Share Alike. If you remix, transform, or create derivative works based on this work, you must distribute your contributions under the same license as the original license.
NC: Non-Commercial Use. You are not allowed to use this work for commercial purposes without permission.
Project functions
Multi-rotor: It can be used for cruise flight, crop protection operations, and training room development .....
Fixed-wing: It can be used for long-range reconnaissance and achieve ultra-long-range flight .....
"Vertical takeoff: It can be used for surveying operations and achieving ultra-long-distance flight." .....
Drones, unmanned aerial vehicles, and submarines can all be used for surveying operations .....
There are quite a few ways to play, so I won't list them all
Project parameters
主处理器 STM32H743IIK6
协处理器 STM32F103xB
加速计/陀螺仪 BMI088
ICM42688-P
ICM20689
电子罗盘 IST8310
气压计 BMP581
ICP-20100
PWM I/O 16
Power 4个 两个UAVCAN电源接口 两个SMBUS电源接口
GPS接口 2个 一个串口1 一个串口4
TELEM 2个 一个串口2 一个串口3 与普通USART多了限流功能
CAN 2个 CAN1 CAN2
RCIN 1个 支持接入PPM SBUS DSM Spektrum
SBUS_IN 1个 支持输入SBUS
SBUS_OUT 1个 适合做云台控制
FMU DEBUG 1个 用于主处理器调试
IO DEBUG 1个 焊盘 用于协处理器调试
Ethernet 1个 用于联网，连4G
SPI EXTERNAL 1个 两个CS 用于外部扩展传感器，用户编程
ADIO 1个 ADC 3V3 ADC 6V6
USB 1个 用于程序烧录，连接地面站
TF卡槽 1个
Interface Parameters
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外设接口：
接收机： DSM&SBUS_IN RSSI_IN SBUS_IN
GPS1: USART1_TX USART1_RX I2C1_SDA I2C1_SCL
GPS2: USART4_TX USART4_RX I2C2_SDA I2C2_SCL
TELEM1: USART2_TX USART2_RX USART2_RTS USART2_CTS
TELEM2: USART3_TX USART3_RX USART3_CTS USART3_RTS
调试接口： UART7_TX UART7_RX FMU_SWDIO FMU_SWCLK IO_SWDIO IO_SWCLK
功能接口： ADC6V6 ADC3V3 SAFETY_SW_LED SAFETY_SW BUZZER
I2C1: I2C1_SCL I2C1_SDA
I2C2: I2C2_SCL I2C2_SDA
I2C4: I2C4_SCL I2C4_SDA
SPI6外设: SPI6_MISO SPI6_SCK SPI6_MOSI SPI6_EXT1_CS SPI6_EXT2_CS
以太网: TX+ TX- RX+ RX-
CAN1: CAN1_H CAN1_L
CAN2: CAN2_H CAN2_L
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供电接口：
供电1： I2C4_SCL / VBAT_V I2C4_SDA / VBAT_I 通过PD15引脚控制模拟开关切换I2C或ADC检测，默认I2C
供电2： CAN2_H / I2C3_SCL CAN2_L / I2C3_SDA 通过PF10引脚控制模拟开关切换CAN2或I2C3检测，默认CNA2
供电3： I2C3_SCL I2C3_SDA
供电4： CAN2_H CAN2_L
Principle analysis (hardware description)
主控采用STM32H743 主频480Mhz 外部时钟16Mhz 确保算力足够
协处理器采用STM32F103 1.PWM输出控制 2.Failsafe机制 3.安全开关和LED控制 4.特定外设支持
集成FM25V05或FM25V02都可以 通常用于存储重要的飞控数据和参数，使其在系统断电或重启后不会丢失 1.存储飞行参数和配置 2.记录飞行状态和日志数据 3.Failsafe记录和恢复 4.传感器数据的快速缓存 5.快速启动数据
一个TF卡槽，TF卡在飞控通电是必须安装，TF卡可用于升级固件，存储日志，存储航线
集成以太网IC及变压器，可实现飞控联网传输数据
集成BMI088陀螺仪为IMU1:优良的抗震性，车规级。集成ICM42688-P陀螺仪为IMU2:优良的灵敏度，超低噪声。集成ICM20689陀螺仪为IMU3:优良的稳定性
集成BMP581为气压计1:非常高的压力精度+-0.3hPa 非常高的分辨率0.006Pa 响应快速
集成ICP-20100为气压计2:极高精度 +-1Pa(0.001hPa) 分辨率较低0.4Pa 响应中等
集成IST8310电子罗盘
降压供电分为5路 :LP5912-3.3DRVT提供一路500毫安给主处理器
MIC5330-SSYML-TR提供两路300毫安给TF卡和IMU传感器，且使能引脚主处理器控制，确保在主处理器启动后开启，且可在地面站用脚本关闭
MIC5330-SSYML-TR提供两路300毫安给协处理器和电平转换芯片，且使能引脚接主处理器电源，确保主处理器开启后这两路自动开启，无需引脚控制
集成一路AP2311FGEG-7功率控制保护电路给其他5V外设供电
集成一路AP2311FGEG-7功率控制保护电路给GPS,数传电台供电
两路CAN总线设置模式使用引脚控制默认下拉使用高速模式，可使用脚本控制为低速模式
集成USB防ESD
集成5路模拟电压检测 一路模拟电压检测3V3 ,一路模拟电流检测3V3 ,一路RSSI检测3V3 ，一路自定义3V3检测
一路自定义6V6检测
集成两路板载电压检测，一路5板载5V,当飞控检测到板载5V电压低于4.3V时地面站会报错，3.3V也是
集成安全开关和安全开关LED灯
集成两个模拟开关控制电源模块的接口
集成两个SN74LVC8T245RHLR为PWM1-16做电平转换和缓冲
集成两个TXS0108ERGYR为串口做缓冲
Physical diagram
Rendered Image
The shell file is in the attachment
It's best to use engineering plastic for printing, as nylon is not hard enough. For high-temperature resistant materials, resin cannot be used. If you don't need a shell, you can directly use studs and a PCB board without soldering underneath, and then tighten the screws.
Intellectual Property Statement & Reproduction Instructions
This project is an open-source hardware project, and its relevant intellectual property rights belong to the creator. The creator uploads this hardware project on this platform solely for the purpose of learning, exchange, and research among platform users, excluding any commercial use. Please refrain from using it for commercial sales or other profit-making purposes;
Please verify the feasibility of the circuit yourself when replicating the project, and determine whether the project is suitable for you. You are responsible for any consequences arising from the replicated project. Under no circumstances will this platform be liable for any direct, indirect, or other damages you encounter due to circuit design issues in the open-source project during replication.