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177 lines
5.5 KiB
Markdown
177 lines
5.5 KiB
Markdown
# S-Vehicle E2
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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:::
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The _E2_ is an advanced autopilot manufactured by S-Vehicle<sup>®</sup>.
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The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
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It brings you ultimate performance, stability, and reliability in every aspect.
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:::info
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These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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### Processors & Sensors
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- FMU Processor: STM32H753IIK6
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
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- IO Processor: STM32F103
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- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
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- On-board sensors
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- Accel/Gyro: BMI088
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- Accel/Gyro: ICM-42688-P
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- Accel/Gyro: ICM-20649
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- Mag: RM3100
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- Barometer: 2x ICP-20100
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### 接口
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- 14x PWM Servo Outputs
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- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
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- 1x Analog/PWM RSSI Input
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- 2x TELEM Ports (with full flow control)
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- 1x UART4 Port
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- 2x GPS Ports
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- 1x Full GPS plus Safety Switch Port (GPS1)
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- 1x Basic GPS Port (with I2C, GPS2)
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- 1x USB Port (TYPE-C)
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- 1x Ethernet Port
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- Transformerless application
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- 100Mbps
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- 3x I2C Bus Ports
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- 1x SPI Bus
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- 1x Chip Select Line
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- 1x Data Ready Line
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- 1x SPI Reset Line
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- 2x CAN Ports
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- 3x Power Input Ports
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- ADC Power Input
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- I2C Power Input
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- DroneCAN/UAVCAN Power Input
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- 2x AD Ports
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- Analog Input (3.3V)
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- Analog Input (6.6V - not supported by PX4)
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- 1x Dedicated Debug Port
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- FMU Debug
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## Purchase Channels
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Order from [S-Vehicle](https://svehicle.cn/).
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## 遥控器
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A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
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将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
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Spektrum/DSM receivers connect to the DSM/SBUS RC input.
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PPM or SBUS receivers connect to the RC IN input port.
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CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | -------- |
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| USART1 | UART | GPS |
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| USART2 | /dev/ttyS1 | TELEM3 |
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| USART3 | /dev/ttyS2 | 调试控制台 |
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| UART4 | /dev/ttyS3 | UART4 |
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| UART5 | /dev/ttyS4 | TELEM2 |
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| USART6 | /dev/ttyS5 | PX4IO/RC |
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| UART7 | /dev/ttyS6 | TELEM1 |
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| UART8 | /dev/ttyS7 | GPS2 |
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## PWM Output
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The E2-Plus flight controller supports up to 14 PWM outputs.
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The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
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The remaining 6 outputs (labelled 9 to 14) are the "auxiliary" outputs.
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These are directly attached to the STM32H753 FMU controller .
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The 14 PWM outputs are:
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M1 - M8 are connected to the IOMCU
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A1 - A6 are connected to the FMU
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M1 - M8 support DShot and are in 3 groups:
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- M1, M2 in group 1
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- M3, M4 in group 2
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- M5, M6, M7, M8 in group 3
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The 6 FMU PWM outputs are in 2 groups:
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A1 - A4 are in one group.
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A5, A6 are in a 2nd group.
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Channels within the same group need to use the same output rate.
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If any channel in a group uses DShot then all channels in the group need to use DShot.
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### Electrical data
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- Voltage Ratings:
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- Max input voltage: 5.7V
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- USB Power Input: 4.75\~5.25V
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- Servo Rail Input: 0\~9.9V
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- Current Ratings:
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- TELEM1 and GPS2 combined output current limiter: 1.5A
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- All other port combined output current limiter: 1.5A
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## Battery Monitoring
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The board has connectors for 3 power monitors.
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- POWER1 -- ADC
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- POWER2 -- DroneCAN
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- POWER3 -- I2C
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The board is configure by default for a analog power monitor, and also has DroneCAN power monitor and I2C defaults configured which is enabled.
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The default PDB included with the E2+ is analog and must be connected to `POWER1`.
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## 编译固件
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To [build PX4](../dev_setup/building_px4.md) for this target, execute:
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```sh
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make svehicle_e2_default
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```
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## 调试接口
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The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------------- | --------------------- |
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| 1（红） | 5V+ | +5V |
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| 2 | DEBUG TX (OUT) | +3.3V |
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| 3 | DEBUG RX (IN) | +3.3V |
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| 4（黑） | FMU_SWDIO | +3.3V |
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| 6 | FMU_SWCLK | +3.3V |
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| 6 | GND | GND |
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For information about using this port see:
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- [SWD Debug Port](../debug/swd_debug.md)
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- [PX4 System Console](../debug/system_console.md) (Note, the FMU console maps to USART3).
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- All ports use GH1.25 ,power ports use ports on E2 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
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## 针脚定义
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## 支持的平台/机身
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Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
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