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APM v2.8.0 原理图
APM v2.8.0 原理图
APM v2.8.0 原理图
5V
MIC5219-3.3
C22
C11
.1uF
VCC
GND GND
D4
GND
GND
GND
X1-2
VCC
C12
GND GND
INT
ESC 5V EN
C23
4.7uF 4.7uF
.047uF
220
X1-1
10uF
GND
MMSZ5233BT1G
C21
AUX_SDA
AUX_SCL
SS_3V3
MISO_3V3
FSYNC
INT
C7
.1uF
1
2
3
4
5
6
7
8
9
10
11
12
SDA/SDI
SCL/SCLK
CLKOUT
RESV2
CPOUT
RESV1
GND
NC8
NC7
NC6
NC5
VDD
CLKIN
NC1
NC2
NC3
NC4
AUX_DA
AUX_CL
/CS
AD0/SDO
REGOUT
FSYNC
INT
5
7
6
8
CSB2
CSB1
VDD SDI/SDA
SDO
PS
SCLK
GND
CS_MS5611
MOSI_3V3
MISO_3V3
SCK_3V3
MS5611-01BA
GND
GND
GND
VCC
3.3V
SCK_3V3
MOSI_3V3
SS_3V3
MISO_3V3
U$7
VCC
PB1
PB2
PB0
PB3
B1
A1
B2
A2
B3
A3
B4
A4
VCCAGND
VCCB OE
GND
C9
.1uF
MPU-6000
GND
4
1
2
3
C1
.1uF
24 MOSI_3V3
23 SCK_3V3
22
21
20
19
18
17
16
15 3.3V GND
14
13
CS_MS5611
R10
10k
U5
R19
ESC 5V EN
JP_VCC
EN BP
PE6
D1
GND
10k
IN OUT
FSYNC
R22
4.7K
PG1
U$12
RST
4.7K
PJ3
R23
F2
3.3V
U3
MUX
3.3V
3.3V
MBR120VLSFT1G
D2
.01uF
500mA
VCC
3.3V
10k
R25
SPI_OE
R33
MPU/Pressure
VCC
C13
3.3V Regulator
PPM_PC2
1
2
3
4
5
PPM_TX
C5
.1uF
SPI_OE
PPM_RX
GND
COM1
NC1
V+
NC2
COM2
IN1
NO1
GND
NO2
IN2
10
9
8
7
6
VCC
1k
COM_RX
PE0 RX0-I
R30
3DR_RX
3DR_TX
1k
COM_TX
PE1 TX0-O
R27
PPM_PC2
GND
GND
GND
TS5A23157
GND
AT32-U2
AT2560
79
69
68
67
66
65
64
63
PJ7
PJ6(PCINT15)
PJ5(PCINT14)
PJ4(PCINT13)
PJ3(PCINT12)
PJ2(XCK3/PCINT11)
PJ1(TXD3/PCINT10)
PJ0(RXD3/PCINT9)
NA
9
8
7
6
NA
TX2-O 16
RX2-I 17
PH7
PH6
PH5
PH4
PH3
PH2
PH1
PH0
27
18
17
16
15
14
13
12
pwm
pwm
pwm
pwm
PH7(T4)
PH6(OC2B)
PH5(OC4C)
PH4(OC4B)
PH3(OC4A)
PH2(XCK2)
PH1(TXD2)
PH0(RXD2)
NA
(ADC7/TDI)PF7
(ADC6/TDO)PF6
(ADC5/TMS)PF5
(ADC4/TCK)PF4
(ADC3)PF3
(ADC2)PF2
(ADC1)PF1
(ADC0)PF0
(OC0B)PG5
(TOSC1)PG4
(TOSC2)PG3
(ALE)PG2
(RD)PG1
(WR)PG0
90
91
92
93
94
95
96
97
1
29
28
70
52
51
PF7
PF6
PF5
PF4
PF3
PF2
PF1
PF0
PG5
PG4
PG3
PG2
PG1
PG0
3
2
5
NA
1
0
10K
R37
CH5
4 PG5 pwm
NA
NA
39
40
41
IN PWM
IN7
220
IN6
220
IN5
220
IN4
220
PPM_MISO 220
PPM_MOSI 220
PPM_SCK 220
IN0
220
CH8
R38
R39
R40
CH5
R41
R42
R43
R44
CH1
5V
1
2
3
4
5
6
7
8
GND
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
PB5
PH5
PH4
PH3
PE5
PE4
PE3
1M
JP19
5V
220
R8
220
R7
220
R6
220
R5
OUT PWM
220
R4
220
R3
220
R2
220
R1
1
2
3
4
5
6
7
8
5V
GND
1
2
3
4
5
6
7
8
JP5
PPM_IN
1K
PPM_IN
1
2
3
4
5
6
7
8
JP3
MISO
R48
10k
3.3V
MOSI_DF
SCK_DF
CS_DF
RST_DF
PA2
GND
GND
PJ1
PJ2
PA6
PG0
B1
A1
B2
A2
B3
A3
B4
A4
VCCAGND
VCCB OE
PA1
R47 VCC
SPI_OE
GND
R35
LED5
ORANGE
1k
PC7_LED
LED7
RED
R51
VCC
VCC
VCC
IO pins
PF0
PF1
PF2
PF3
PF4
PF5
PF6
PF7
PK0
SJ0
SJ1
SJ2
1
2
3
4
5
6
7
8
9
10
11
12
5V
JP8
GND
GND
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
10
11
12
JP7
GND
PIXHAWK2_DF13-5P-1.25DSA
U$6-1
U$6-2
U$6-3 GPS
U$6-4
U$6-5
TX1-O PD3
RX1-I PD2
Magneto
3.3V
U$13
GND
JP_VCC
ADC12 PK4
ADC13 PK5
JP6
PIXHAWK2_DF13-6P-1.25DSA
U$10-1
U$10-2
U$10-3
U$10-4
U$10-5
U$10-6
PM
C4
C10
0.1uF
4.7uF
2
13
4
10
VDD
VDDIO
S1
C1
9
11
GND
GND2
DRDY
SDA
SCL
15
16
1
SETP
SETC
12
PC6
SDA
SCL1
C8
GND
VCC
SJ0
1k
VCC
PIXHAWK2_DF13-5P-1.25DSA
PB7
R17
JP1
GND
PWM Outputs
VCC
CARD PC4
R46
1k
1k
PJ0
GND
R32
LED4
ORANGE
1k
PL1
PPM_PD6
VCC
WP
SCK
CS
AT45DB161D-MU
VCC
GND
1k
5
2
4
SCK_DF
CS_DF
GND compassVCC
SDA
X3-1
C14
JP2
SDA1 compass
X3-2
.1uF
TXLED
R11
PPM_PC4
VCC
R45
JP16
JP18
PWM Inputs GND
PB6
#RST
PPM_PD6
TXLED
RXLED
PPM_TX
PPM_RX
PPM_PD1
PPM_PD0
Pins/Connectors/LEDs
VCC
ATMEGA2560-16AU
SJ2
GND
ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0
13
12
11
10
9
8
7
6
RXLED
TX1-O
RX1-I
SDA
SCL
TX0-O
RX0-I
PAD
(CTS/HWB/AIN6/TO/INT7)PD7
(RTS/AIN5/INT6)PD6
(XCK/AIN4/PCINT12)PD5
(INT5/AIN3)PD4
(TXD1/INT3)PD3
(RXD1/AIN1/INT2)PD2
(AIN0/INT1)PD1
(OC0B/INT0)PD0
ATMEGA32U2-MU
PPM_OUT
PPM_IN
R15
pwm
pwm
pwm
EXP
PC7_LED
PPM_OUT
VCC
PPM_PC4
PPM_PC2
GND
R14
10K
LO
GND
#RST PPM_PD6
X2-1
PPM_PD6
JP3
SJ1
1k
1k
R24
PE0
R49
PE1
SJ9
SDA1
U$17-1
U$17-2
U$17-3
U$17-4 3DR-radio
U$17-5
GND
DF13-4P-1.25H
U$3-1
U$3-2
U$3-3 EX_MAG
U$3-4
SCL1
SDA1
0.22uF
HMC5883L
GND
GND GND
VCC
3.3V
GND
SCL1
MUX_SDA
SJ5
PH0
PH1
U$11-1
U$11-2
U$11-3
U$11-4
MUX2
MUX_TX2
3.3V
DF13-4P-1.25DSA
MUX2
MUX3
MUX_TX0
SJ8
MUX3
MUX_RX2
VCC
MUX_SCL
SJ7
MUX_RX0
SJ6
PL5
3DR_TX
3DR_RX
R50
SJ4
PL4
R21
SJ2
1k
1k
GND
MUX
SCL1
SDA1
U2
4
1
2
3
EN
GND
VREF1 VREF2
SCL2
SCL1
SDA2
SDA1
PCA9306DC
GND
8
7
6 PD0
5 PD1
200k
PJ7
PJ6
PJ5
PJ4
PJ3
PJ2
PJ1
PJ0
PE7
PE6
PE5
PE4
PE3
PE2
PE1
PE0
UCAP
UVCC
DD+
UGND
22
23
25
26
5
3.3V
IC2
RST_DF 3 RESET VCC 6
MOSI_DF 1 SI
SO 8
R12
NA
NA
NA
NA
NA
NA
TX3-O 14
RX3-I 15
9
8
7
6
5
4
3
2
(CLKO/ICP3/INT7)PE7
(T3/INT6)PE6
(OC3C/INT5)PE5
(OC3B/INT4)PE4
(OC3A/AIN1)PE3
(XCK0/AIN0)PE2
(TXD0)PE1
(RXD0/PCIN8)PE0
VCC
GND
(INT4/ICP1/CLK0)PC7
(OC1A/PCINT8)PC6
(PCINT9/OC1B)PC5
(PCINT10)PC4
(AIN2/PCINT11)PC2
10K
HI
X4-2
2.2k
PK7(ADC15/PCINT23)
PK6(ADC14/PCINT22)
PK5(ADC13/PCINT21)
PK4(ADC12/PCINT20)
PK3(ADC11/PCINT19)
PK2(ADC10/PCINT18)
PK1(ADC9/PCINT17)
PK0(ADC8/PCINT16)
38
NA
NA
NA
18
19
20
21
3.3V
PPM_PC4
2.2k
R9
82
83
84
85
86
87
88
89
PD7
PD6
PD5
PD4
PD3
PD2
PD1
PD0
X4-1
JP4
SCL1
PK7
PK6
PK5
PK4
PK3
PK2
PK1
PK0
50
49
48
47
46
45
44
43
4
3
GND
PPM_PC4
IN7
IN6
IN5
IN4
PPM_MISO
PPM_MOSI
PPM_SCK
IN0
R16
ADC15
ADC14
ADC13
ADC12
ADC11
ADC10
ADC9
ADC8
(T0)PD7
(T1)PD6
(XCK1)PD5
(ICP1)PD4
(TXD1/INT3)PD3
(RXD1/INT2)PD2
(SDA/INT1)PD1
(SCL/INT0)PD0
1uF
VCC
LO
LO
HI
LO
AVCC
27
31
30
29
28
VUCAP
VCC
RDRD+
GND
21
20
19
18
17
16
15
14
SDA1
PL7
PL6
PL5(OC5C)
PL4(OC5B)
PL3(OC5A)
PL2(T5)
PL1(ICP5)
PL0(ICP4)
C17
.1uF
32
1k
42
41
40
39
38
37
36
35
30
31
32
33
34
35
36
37
27
VCC
R36
PL7
PL6
PL5
PL4
PL3
PL2
PL1
PL0
PC7
PC6
PC5
PC4
C16
PPM_MOSI
GND
LED6
GRN
42
43
pwm 44
pwm 45
pwm 46
47
48
49
60
59
58
57
56
55
54
53
USHIELD
+5
MOSI
GND
X2-2
1k
GND
(A15)PC7
(A14)PC6
(A13)PC5
(A12)PC4
(A11)PC3
(A10)PC2
(A9)PC1
(A8)PC0
pwm
pwm
pwm
pwm
XT1R
LED1
RED-A
GND
13
12
11
10
50
51
52
53
Y1
R28
PA5
GND
PB7
PB6
PB5
PB4
PB3
PB2
PB1
PB0
XT1
16MHz
1k
LED2
YELLOW-B
R13
.1uF
26
25
24
23
22
21
20
19
GND
22
R31 RD22
RD+
R34
PA4
C3
.1uF
(OC0A/OC1C/PCINT7)PB7
(OC1B/PCINT6)PB6
(OC1A/PCINT5)PB5
(OC2A/PCINT4)PB4
(MISO/PCINT3)PB3
(MOSI/PCINT2)PB2
(SCK/PCINT1)PB1
(SS/PCINT0)PB0
500mA
XUSB
DD+
VCC
VCC
VCC
VCC
GND
GND
GND
GND
24
R18
10
31
61
80
11
32
62
81
29
28
27
26
25
24
23
22
1k
AREF
AVCC
AGND
PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0
R20
XTAL1
98
100
99
71
72
73
74
75
76
77
78
2
4
6
SPI_PPM
(PCINT7/OC0A/OC1C)PB7
(PCINT6)PB6
(PCINT5)PB5
RESET(PC1/DW)
(T1/PCINT4)PB4
(PD0/MISO/PCINT3)PB3
(PDI/MOSI/PCINT2)PB2
XTAL2(PC0)
(SCLK/PCINT1)PB1
(SS/PCINT0)PB0
XTAL1
XT2
(AD7)PA7
(AD6)PA6
(AD5)PA5
(AD4)PA4
(AD3)PA3
(AD2)PA2
(AD1)PA1
(AD0)PA0
1
3
5
DataFlash
PPM_RST
R29
GND
XTAL2
34
F1
MISO
SCK
RESET
U$8
Arduino Pins
PGB1010604
RESET
33
VCC
D+
DXUSB
Z1
30
GND
GND
5
4
3
2
1
LED3
BLUE-C
C2
SJ3
PB2
PA3
VCC
+5
MOSI
GND
SPI_Mega
IC1
VCC
GND
VCC
PB3-PIN
MISO_3V3
2
4
6
PGB1010604
Z2
AREF
1
3
5
U8
PPM_MISO
PPM_SCK
PPM_RST
L1
VCC
16MHZ
MISO
SCK
RESET
VCC
USHIELD
BLM21
TP1
#RST
10k
D3
VCC
GND
U1
PB3
U7
PB3-PIN
PB1
RST
.1uF
3
4
GND
AREF
C15
RST
1
2
VCC
R26
S1
MBR120VLSFT1G
VCC
VCC