LinAM V4

Autopilots
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= LinAM V4 =
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== Overview ==
LinAM V4 is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH. 
* STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM 
* 9 DOF integrated IMU based: ADXRS620BBGZ Gyro sensor and MXR9150MZ Accelerometer with 16 bit ADC ,HMC5983 magnet field sensor. 
* high precision barometer/altimeter MS5611-01BA03(I2C). 
* Onboard U-Blox GPS MAX-M8Q.
* Onboard differential pressure sensor MPXV5004DP (for airspeed) with 16 bit ADC 
* 2 x 3.3V TTL UART (5V tolerant)
* 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card) 
* 8 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
* 1 x I2C bus
* 1 x CAN bus
* SWD programming/debugging interface.
* 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM).
* 2 x isolated IO for camera control (POWER and SHUTTER).
* Up to 35V (8S LiPo) input power control unit
* Up to 2.5A load current on 5V line
* 1 x 5v/500mA power switch
* 4 x status LEDs
* 20 grams
* 65mm x 45mm 
* 4 layers PCB design
* the box is 89mm x 51mm x 25mm
So, except for a Modem unit with the LinAM you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.
== Hardware Revision History ==
Version #	Release Date	Release Notes
v1.00 	07/2014 	Initial release of LinAM
v2.00 	11/2014 	LinAM V2
v3.00 	02/2015 	LinAM V3
v4.00 	07/2015 	LinAM V4
== Detailed Features ==
=== 9 DOF IMU ===
* ADXRS620BBGZ Gyro sensor : quality Gyroscope sensor from Analog Device, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts.
* MXR9150MZ Accelerometer: quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts.
* HMC5983 magnet field sensor: Replace HMC5883L temperature compensation triaxial compass.
=== USB Modes ===
* usb plugged before autopilot is powered : enter DFU mode to be flashed
=== SWD: Serial Wire Debug ===
permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe
=== R/C Serial ===
In addition to the classic PPM input, that mostly require receiver modification, one pin of the R/C connector is routed to the MCU UART5 receive input through a controlled inverter.
This new feature allow direct connection (3 pin) of several brand off-the-shelf receivers without hardware modification or external encoder board.
* RX5_POL(PA8) = 0 => R/C serial (Rx5) is non-inverted : allow use standard polarity serial receivers (Spektrum, FlyElectric...)
* RX5_POL(PA8) = 1 => R/C serial (Rx5) is inverted : allow use of S.BUS protocol compatible receivers (Futaba, FrSky,...)
(see R/C Receivers and Radios page for serial compatible receiver)
=== Power Switch ===
5V power output pin on AUX connector ("5Vaux",#2) can be switched ON and OFF on demand using APSW (MCU GPIO output PB12).
* APSW(PA15) = 0 => 5V Aux OFF
* APSW(PA15) = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is short-circuit and thermally protected.
(see TPS2051B datasheet for recommended operation conditions)
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== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board :
POWER IN
Pin Pos	Name 	Type	Description
B 	VBAT 	PWR 	V_BATT POWER INPUT
M 	CUR_MEAS	IO 	General Purpose I/O(PC0) or ADC_3 Input for current.
T 	GND 	PWR 	common ground
AUX
Pin Pos	Name 	Type	Description
B 	5VAUX	PWR 	5V from autopilot through Power Switch
M 	RESET	IN 	MCU Reset
T 	GND 	PWR 	common ground
SERVO1/2/3/4/5/6/7/8
Pin Pos	Name 	Type	Description
B 	SRVx 	OUT 	Servo signal (PWM)
M 	SERVO_V	PWR 	Servo Bus Voltage Rail
T 	GND 	PWR 	common ground
SBUS/Satellite
Pin Pos	Name 	Type	Description
B 	RX5 	IN 	UART2 Serial Input (5V Tolerant) through controlled inverter
M 	+5VDC	PWR 	5V Rail from autopilot
T 	GND 	PWR 	common ground
PPM
Pin Pos	Name 	Type	Description
B 	RX5 	IN 	PPM Stream from R/C Receiver or PPM Encoder Board (5V tolerant)
M 	+5VDC	PWR 	5V Rail from autopilot
T 	GND 	PWR 	common ground
ADC/IO
Pin Pos	Name 	Type	Description
B 	ADC2 	IO 	General Purpose I/O(also spektrum bind pin,PC3) or ADC_2 Input
M 	+5VDC	PWR 	5V Rail from autopilot
T 	GND 	PWR 	common ground
LOG
Pin Pos	Name 	Type	Description
B 	TX3 	OUT 	USART3 Serial Output (3.3V level)
M 	+5VDC	PWR 	5V Rail from autopilot
T 	GND 	PWR 	common ground
TELEM
Pin Pos	Name	Type	Description
B 	TX3 	OUT 	USART3 Serial Output (3.3V level)
M 	RX3 	IN 	USART3 Serial Input (3.3V level,Pullup(4.7K) to 3.3V)(5V tolerant)
T 	GND 	PWR 	common ground
SWD
Pin Pos	Name 	Type	Description
B 	SWDCLK	IN 	Serial Wire Clock (3.3V level)
M 	SWDIO 	IO 	Serial Wire Data Input/Output (3.3V level)
T 	GND 	PWR 	common ground
CAMERA
Pin Pos	Name	Type	Description
B 	SW 	OUT 	Connect to camera ON/OFF (PB5,control a PhotoMOS relay)
M 	SHUT	OUT 	Connect to camera shutter (PB4,control a PhotoMOS relay)
T 	COM 	PWR 	Connect to camera ground (PhotoMOS relay common)
CAN/I2C
Pin Pos	Name	Type	Description
B 	CANH	IO 	CANL (3.3V level)
M 	CANL	IO 	CANL (3.3V level)
T 	GND 	PWR 	common ground
== Pictures ==
Image:LinAM_V4_3D_view_top.jpeg|LinAM V4 3D top view
Image:LinAM_V4_3D_view_bottom.jpeg|LinAM V4 3D bottom view
Image:LinAM_V4_IMU_Vertical_Board.jpeg|LinAM V4 IMU Vertical Board 
Image:LinAM_V4_GPS_AND_AIRSPEED_connector.png|LinAM V4 GPS AND AIRSPEED CONNECTOR
Image:LinAM_V4_PIN.jpeg|LinAM V4 PIN CONNECTOR
Image:LinAM_IMU_V3.jpeg|LinAM V3 IMU BOARD
= Examples of Airborne Equipment Electrical Connections =
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= Programming =
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LinAM autopilot can reprogrammed in two different ways:
* using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
** required hardware : usb cable with usb-mini connector
** required software : dfu_util tool (present in ubuntu repository)
* using the SWD (Serial Wire Debug) connector
** required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)
= Mechanical Dimensions =
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= Schematics =
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= Source code =
Available in latest git master branch
Category:Autopilots