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hardware.md

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#Hardware

BBBMINI-PCB

Schematic

Schematic

PCB

PCB

Power supply

For supplying power to the BBB I use a 5V 3A UBEC module.

BBB UBEC Remark
P9.01 and P9.02 GND UBEC-GND
P9.05 and P9.06 VDD_5V UBEC-5V P9.05 and P9.06 are connected to the power plug of the BBB

RCInput

Pin assigment

BBB RC Receiver I/O Remark
P9.01 DGND GND
P9.03 VDD_3V3 VDD
P8.15 RC_IN RC Out IN 3.3 Volt (Spektrum / SBUS / PPM-Sum)

RCOutput

Pin assigment

BBB ESC / Servo I/O Remark
P8.01 DGND GND
P8.28 RC_OUT_CH_1 OUT 3.3 Volt
P8.27 RC_OUT_CH_2 OUT 3.3 Volt
P8.30 RC_OUT_CH_3 OUT 3.3 Volt
P8.29 RC_OUT_CH_4 OUT 3.3 Volt
P8.40 RC_OUT_CH_5 OUT 3.3 Volt
P8.39 RC_OUT_CH_6 OUT 3.3 Volt
P8.42 RC_OUT_CH_7 OUT 3.3 Volt
P8.41 RC_OUT_CH_8 OUT 3.3 Volt
P8.44 RC_OUT_CH_9 OUT 3.3 Volt
P8.43 RC_OUT_CH_10 OUT 3.3 Volt
P8.46 RC_OUT_CH_11 OUT 3.3 Volt
P8.45 RC_OUT_CH_12 OUT 3.3 Volt

IMU MPU-9250

Alignment

MPU-9250 alignment

Pin assigment

BBB MPU-9250 I/O Remark
P9.01 DGND GND
P9.03 VDD_3V3 VDD
P9.28 MPU9250_CS MPU9250_CS / nCS OUT 3.3 Volt
P9.29 SPI1_MISO MISO / SD0 IN 3.3 Volt
P9.30 SPI1_MOSI MOSI / SD1 / SDA / SDI OUT 3.3 Volt
P9.31 SPI1_SCLK SCLK / SCL OUT 3.3 Volt

Baro MS 5611

Pin assigment

BBB MS 5611 I/O Remark
P9.01 DGND GND
P9.03 VDD_3V3 VDD
P9.29 SPI1_MISO MISO / SDO IN 3.3 Volt
P9.30 SPI1_MOSI MOSI / SD1 / SDA OUT 3.3 Volt
P9.31 SPI1_SCLK SCLK / SCL OUT 3.3 Volt
P9.42 MS5611_CS MS5611_CS / CSB OUT 3.3 Volt
PS Connect to GND to switch to SPI communication

SPI0

Pin assigment

BBB | I/O | Remark ------------ | ------------- | ------------- | ------------- P9.01 DGND | | P9.03 VDD_3V3 | | P9.21 SPI0_MISO | IN | 3.3 Volt P9.18 SPI0_MOSI | OUT | 3.3 Volt P9.22 SPI0_SCLK | OUT | 3.3 Volt P9.17 SPI0_CS | OUT | 3.3 Volt

UART4 MAVLink radio module

Baudrate 57600, 8, n, 1

Pin assigment

BBB Radio I/O Remark
P9.01 DGND GND
P9.13 TX RADIO_RX OUT 3.3 Volt
P9.11 RX RADIO_TX IN 3.3 Volt

UART5 GPS

Baudrate 38400, 8, n, 1

Pin assigment

BBB GPS I/O Remark
P8.01 DGND GND
P8.37 TX GPS_RX OUT 3.3 Volt
P8.38 RX GPS_TX IN 3.3 Volt

CAN1 UAVCAN

You have to use a CAN transceiver (e.g. MCP 2562-E/P) for CAN datatransfer.

Pin assigment

BBB I/O Remark
P9.24 RX IN 3.3 Volt
P9.26 TX OUT 3.3 Volt