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Table of Contents
Contents
1.
Introduction ................................................................................................................................ 3
1.1
Limitations .......................................................................................................................... 4
1.1.1
Rate limits ..................................................................................................................... 4
1.1.2
Acceleration limits ......................................................................................................... 4
1.1.3
Magnetic field limits....................................................................................................... 4
1.1.4
GPS .............................................................................................................................. 5
1.1.5
Precautions and User Responsibility ............................................................................. 5
1.2
Theory of Operation ............................................................................................................ 5
1.2.1
Startup Conditions ........................................................................................................ 6
2. Specifications and Characteristics .............................................................................................. 7
2.1
Performance Specifications – CPU ..................................................................................... 7
2.2
Performance Specifications – Global Positioning Receiver ................................................. 7
2.3
Electrical Characteristics – Monkey .................................................................................... 7
2.4
Absolute Maximum Ratings ................................................................................................ 8
2.5
Mechanical and Pin Assignments ....................................................................................... 9
2.5.1
Dimensions ................................................................................................................... 9
2.5.2
Coordinate System and Orientation .............................................................................. 9
2.5.3
Pin Assignments ......................................................................................................... 10
2.5.4
Physical Location of Connectors ................................................................................. 14
3. Schematic Details..................................................................................................................... 18
3.1
Main ARM Processor ........................................................................................................ 18
3.2
Power Input ...................................................................................................................... 18
3.3
Servo Output .................................................................................................................... 19
3.4
GPS Power and Antenna .................................................................................................. 19
3.5
Reprogramming ................................................................................................................ 20
3.6
USB .................................................................................................................................. 20
3.7
LEDs ................................................................................................................................ 20
3.8
Barometric Pressure Sensor ............................................................................................. 20
3.9
Accelerometers and Magnetometers ................................................................................ 21
3.10 Rate sensors .................................................................................................................... 21
3.11 MPU-9150 ........................................................................................................................ 22
3.12 ADC and GPIO ................................................................................................................. 22
3.13 Communication ports ........................................................................................................ 22
3.14 Input Capture port and Aux Connector ............................................................................. 24
3.15 Memory and Storage ........................................................................................................ 24
4. Hardware Integration ................................................................................................................ 25
4.1
Power ............................................................................................................................... 25
4.1.1
Input Power ................................................................................................................ 25
4.2
GPS Antenna Options ...................................................................................................... 25
5. Software Interface .................................................................................................................... 26
5.1
Recommended tools ......................................................................................................... 26
5.2
Firmware Upload Procedure ............................................................................................. 26
6. Appendix A – Reprogramming Example ................................................................................... 27
X-Monkey User Manual Rev -