Changes to be made to ZP3 Interface Dev Board:
- Change 2.54mm pin socket connectors to match Pixhawk Connector Standard (Pixhawk-Standards/DS-009 Pixhawk Connector Standard.pdf at v6xupdate · pixhawk/Pixhawk-Standards · GitHub)
- Remove ST-Link connector
- Decide on which sensors to add (if any) with EFS
- Remove LEDs?
- Add IMU
CONNECTORS
All interfaces which have a pixhawk standard connector (UART, I2C, SPI, ST-Link) except for debug (ST-Link) will be replaced with GH series JST connectors. Debug will use SH series. The rest (GPIO, ADC input, TIM) don’t have a standard, and thus will use found in COTS products or what intuitively feels convenient.
As is the case with the Pixhawk FC, only upwards-facing JST connectors will be used.
Replace ST-Link socket (J30) with BM10B-SRSS-TB connector. This is a 10-pin upwards-facing SMT connector. It is the standard “Pixhawk Debug Full” connector. There is a “mini” version with only 6 pins, but it does not seem to have an nRST pin, which is needed for ST-Link.
From the PX4 user guide, the following pin connections will be made:
#Full | Pixhawk Debug |
|---|---|
1 | VCC |
2 | x |
3 | x |
4 | SWDIO |
5 | SWCLK |
6 | SWO |
7 | x |
8 | x |
9 | nRST |
10 | GND |
Note: the connector-standard pdf document does not identify the location of the nRST pin, but the user guide specifies it as being on pin 9.
UART conn (4-pin: J6, 11, 34; 6-pin: 18, 23). Using 6-pin standard telemetry connector (BM06B-GHS-TBT). On 4-pin UART, CTS and RTS are left floating.
SPI conn (J26, 27). Replace with BM07B-GHS-TBT 7-pin connector. NSS will be connected to the SS1 pin and the SS2 pin will be left floating.
I2C conn (J7, J12, J16). Replace with BM04B-GHS-TBT 4-pin connector.
GPIO conn (J31, 32). 0.1” pitch through hole solder pads (for option of using pin headers or direct soldering).
ADC conn (J28). 0.1” Pin sockets/headers.
TIM conn (J3, 4, 9, 10, 14, 15, 19, 20, 21, 22, 8, 13, 17, 24, 25, 29). Blue Robotics’s products use 0.1” 3-pin headers for TIM/PWM interfaces. Although they make marine robots, their connector standard is originally based on the Pixhawk standard, and it seems like it is a good choice.