6 5 4 3 2 1

REVISION RECORD

Jamming First Release 2018/12/20

Jamming Second Release 2019/3/24

ACC+GYRO UART1
GPS
(off board)
SPI1 STM32H743 I2C1 (10pin 1.25mm GH)
GPIO
FRAM SPI2
D USART2 TEL1 D
(6pin 1.25mm GH)
MS5611 SPI4
(on board) TEL2
USART3
(6pin 1.25mm GH)
Spi EXT1 SPI5
(7pin 1.25mm GH)
USART6 TEL3
(6pin 1.25mm GH)
Spi EXT2
SPI6 UART4
(13pin 0.3mm GH)
TEL4
I2C2 (6pin 1.25mm GH)
MAG I2C3
(on board)
SDIO MicroSD Connector
I2C EXT1
C I2C4 6CH C
(4pin 1.25mm GH)
ADC Power sense
CAN EXT1 Driver CAN1 2CH
(4pin 1.25mm GH) TJA1051 ADC in & PWM capture
6CH (10pin 1.25mm GH)
CAN EXT2 Driver Timer
(4pin 1.25mm GH) TJA1051 CAN2

Debug
UART7 GPIO RGB-LED
SWD UART8 TIMER
(6pin 1.0mm SR)

USB 5CH AUX PWM

PWM OUT & RC
B B
(14pinX3 3mm)

VDD Servo sense

UART2 8CH MAIN PWM
1Test Piont ADC TIMER

STM32F100 PPM_IN
DSM UART1_RX TIMER

(3pin 1.25mm GH)

SBUS_IN
UART3_RX INVERT
UART1_TX SBUS OUT
Debug UART3_TX INVERT (3pin 1.25mm GH)
Holybro
COMPANY:

5 Test Piont SWD PWM

A TIMER A
RSSI TITLE:

Main Board of Durandal-Flight-Control

Safety Key&Led GPIO ADC
analog DRAWN:
Jamming
DATED:
2018/12/6

Connect to GPS Module CHECKED: DATED:

CODE: SIZE: SHEET: REV:
Jamming 2018/12/8

Block Diagram
024 A2
QUALITY CONTROL: DATED:
RC02

RELEASED: DATED:
Jamming 2018/12/20 SCALE: 1:1 SHEET: 1 OF 9
 6 5 4 3 2 1
REVISION RECORD

10P/25V/C0402 Jamming First Release 2018/12/20

Jamming Second Release Add K1 2019/3/24

C13
2

X5 CM315D32768DZFT
32.768KHz/20PPM/X3215
C21 1
15P/25V/C0402 STM32F743IIK
C9
10P/25V/C0402 E1 F6 N3 A4 [4]
[6] BAT1_V UART8_RX_FROM_IO
OSC32_IN GND PA0 PE0 [4]
F7 [6] BAT1_I N2 A3 UART8_TX_TO_IO
GND PA1 PE1 [3]
F1 F8 [6] BAT2_V P2 A2 SPI4_SCK_SENSOR2 FMU_VDD_3V3
16MHz/20PPM/X3225 OSC32_OUT GND PA2 PE2 [7]
F9 [6] BAT2_I R2 A1 VDD_3V3_SENSORS_EN
GND PA3 PE3

D D
4 1 G1 F10 [5] N4 B1 VDD_3V3_SPEKTRUM_POWER_EN [7]
G OSC_IN GND ADC1_6V6_IN PA4 PE4
G6 [5] FMU_CAP3 P4 B2 BUZZER_1 [6]
X1 GND PA5 PE5 F2 FUSE
2 3 H1 G7 [5] SPI1_MISO_SENSOR1 P3 B3 SPI4_MOSI_SENSOR2 [3] 1 2
G OSC_OUT GND PA6 PE6
G8 [2] HEATER R3 R8 DRDY8 [5]
2U2/10V/C0603 GND PA7 PE7 0ZCJ0025FF2E/250mA/F1206
G9 F15 P8 UART7_TX_DEBUG [2] 6PIN Side Entry JST SR
C1 M10 GND TP11 PA8 PE8 220R/1%/R0402
VCAP_1 U1-A G10 [8] VBUS R61 2.2K/1%/R0402 E15 P9 FMU_AUX_CH4 [9] SM06B-SRSS-TB
GND PA9 PE9 [2] UART7_TX_DEBUG
C10 15P/25V/C0402 H6 [9] FMU_AUX_CH2 D15 R9 10K/1%/R0402 R119
F13 GND PA10 PE10 [9]
VCAP_2 H7 [8] USB_DM C15 P10 FMU_AUX_CH3 R18
C2 GND PA11 PE11
FMU_VDD_3V3 2U2/10V/C0603 H8 [8] USB_DP B15 R10 BAS70/SOT23
[2] FMU_SWCLK A14 GND PA12 PE12 [3]
SWDCLK H9 A13 N11 SPI4_MISO_SENSOR2 J1
D6

8
[2] FMU_SWDIO A15 GND TP12 PA15 PE13 [9]
SWDIO H10 P11 FMU_AUX_CH1
GND PE14 [7] 1
J6 10K/1%/R0402 R116 R11 NVDD_5V_PERIPH_OC
FMU_VDD_3V3 L4 GND PE15 2
1 3 BYPASS-REG J7 U1-B NC
R10 GND 2
4 J8 R5 E2 I2C2_SDA_UART4 [6]
D6 GND [2] PB0 STM32F743IIK PF0 220R/1%/R0402
2 BOOT0 J9 NLED_RED R4 H3 I2C2_SCL_UART4 [6] A C
GND PB1 PF1 [2] UART7_RX_DEBUG 1 3 3
K1 FMU_VDD_3V3 10K/1%/R0402 J10 M6 H2 SPI1_CS1_ICM20689 [5]
C6 GND [5] PB2 PF2
PDR_ON K6 FMU_CAP2 A10 J2 R98
GND [5] PB3 PF3 4
This Key USE FOR DFU K7 SPI1_DRDY1_ICM20689 A9 J3 SPI1_CS3_BMI055_GYRO [5]
[7] FMU_NRST J1 GND PB4 PF4 [2]
NRST K8 [5] SPI6_MOSI_EXTERNAL2 A6 K3 SPI2_CS_FRAM
GND PB5 PF5 [2] [2] FMU_SWDIO 5
L1 K9 [6] USART1_TX_GPS1 B6 K2 UART7_RX_DEBUG
R1 GND PB6 PF6 [5]
AVDD K10 [6] USART1_RX_GPS1 B5 K1 SPI5_SCK_EXTERNAL1
100N/25V/C0402
60R@100M/300mA/FB0402 P1 GND PB7 PF7 [5] [2] FMU_SWCLK 6
1U/10V/C0402

VREF+ [6] I2C1_SCL_GPS1 A5 L3 SPI5_MISO_EXTERNAL1

N1 [6] PB8 PF8 [5]
VREF- I2C1_SDA_GPS1 B4 L2 SPI5_MOSI_EXTERNAL1 [3]
PB9 PF9
R12 L1

7
PB10 PF10 SPI4_CS1_MS5611
C17
C18

H13 [5] FMU_CAP1 R13 R6

VDDUSB PB11 PF11 TP13
[5] CAN2_RX P12 P6 NVDD_5V_HIPOWER_EN [7]
PB12 PF12
FMU_VDD_3V3 C8 [5] CAN2_TX P13 N6 NVDD_5V_HIPOWER_OC [7]
VDDSDMMC PB13 PF13
[5] SPI1_DRDY2_BMI055_GYRO R14 R7 I2C4_SCL_EXTERNAL2 [6]
PB14 PF14
[4,7] VBAT C1 [5] SPI1_DRDY3_BMI055_ACC R15 P7 I2C4_SDA_EXTERNAL2 [6]
VBAT PB15 PF15
F3 F2 [2] M2 N7 [2]
VDD GND SCALED_V5 PC0 PG0 HW_VER_DRIVE

Connector for debug

G3 G2 [2] SCALED_VDD_3V3_SENSORS M3 M7 NPOWER_IN_A [8]
VDD GND PC1 PG1
100N/25V/C0402

[8]
100N/25V/C0402
100N/25V/C0402

K4 M1 [2] HW_VER_SENSE M4 L15 NPOWER_IN_B

VDD AGND PC2 PG2
1U/10V/C0402

100N/25V/C0402
1U/10V/C0402

[8]

100N/25V/C0402
N9 M8 M5 K15
1U/10V/C0402

[2]
1U/10V/C0402
4U7/10V/C0603

HW_REV_SENSE NPOWER_IN_C
1U/10V/C0402
47U/10V/C0805

VDD GND PC3 PG3 [7]

N8 M9 [5] ADC1_3V3_IN N5 K14 NVDD_5V_PERIPH_EN
VDD GND PC4 PG4
N10 H12 P5 K13
VDD GND PC5 PG5
J12 G12 [2] NLED_GREEN H15 J15
VDD GND PC6 PG6 TP15
C4
C84

C16

C38

[2]
C5

J13 F12 G15 J14

C8

C3

C36

[7]
C7

C6

C29 NLED_BLUE VDD_3V3_SD_CARD_EN

C C
VDD GND PC7 PG7
C31

G13 D9 [2] SDMMC1_D0 G14 H14 USART6_RTS_TELEM3 [6]

VDD GND PC8 PG8
C9 D8 [2] SDMMC1_D1 F14 C10 USART6_RX_TELEM3 [6]
VDD GND PC9 PG9
voltage sense
C7 D7 [2] B14 B10 VDD_3V3_SENSORS
SDMMC1_D2 SPI1_CS4_BMI055_ACC [5]
VDD GND PC10 PG10
C5 D5 [2] SDMMC1_D3 B13 B9 SPI1_SCK_SENSOR1 [5]
VDD GND PC11 PG11
[2] SDMMC1_CLK A12 B8 SPI6_MISO_EXTERNAL2 [5]
PC12 PG12 [5]
[5] SPI1_DRDY5_BMI055_GYRO D1 A8 SPI6_SCK_EXTERNAL2 R131
PC13 PG13 [6]
A7 USART6_TX_TELEM3
PG14 [6] [2] SCALED_VDD_3V3_SENSORS
B7 USART6_CTS_TELEM3
PG15 10K/1%/R0402
[6] B12
UART4_RX_I2C2

10K/1%/R0402
[6] PD0
C12

R130
UART4_TX_I2C2 PD1
[2] D12 F4 [6]
SDMMC1_CMD PD2 PH2 CAN1_SILENT_S0
[6] USART2_CTS_TELEM1 D11 G4 CAN2_SILENT_S1 [5] VDD_5V_IN
PD3 PH3
[6] USART2_RTS_TELEM1 D10 H4
PD4 PH4
[6] USART2_TX_TELEM1 C11 J4 SPIAUX_CS_MEM [5]
PD5 PH5
[6] USART2_RX_TELEM1 B11 M11 FMU_CAP5 [5]
PD6 PH6
[5] SPI1_MOSI_SENSOR1 A11 N12 I2C3_SCL [3]
PD7 PH7 R15
[6] USART3_TX_TELEM2 P15 M12 I2C3_SDA [3]
PD8 PH8
FRAM [6]
[5]
USART3_RX_TELEM2
SPI1_DRDY6_BMI055_ACC
P14
N15
PD9
PD10
PH9
PH10
M13
L13
FMU_CAP4 [5] [2] SCALED_V5
10K/1%/R0402
[6] N14 L12
USART3_CTS_TELEM2 PD11 PH11

10K/1%/R0402
[6] N13 K12
FMU_VDD_3V3 USART3_RTS_TELEM2 PD12 PH12
[9]

R14
FMU_AUX_CH5 M15 E12 CAN1_TX [6]
PD13 PH13
[5] FMU_CAP6 M14 E13 HW_REV_DRIVE [2]
PD14 PH14
[3] SPI5_DRDY7_EXTERNAL1 L14 D13
PD15 PH15
E14
PI0 [2]
D14 SPI2_SCK_FRAM
PI1 [2]
C14 SPI2_MISO_FRAM
8 6 SPI2_SCK_FRAM [2] PI2 [2]
100N/25V/C0402

VDD C C13 SPI2_MOSI_FRAM

5 SPI2_MOSI_FRAM [2] PI3 [5]
D D4 SPI5_CS1_EXTERNAL1
2 SPI2_MISO_FRAM PI4
Q [2] C4 10K/1%/R0402 R120
PI5
C3 SPI6_CS1_EXTERNAL2 [5]
1 SPI2_CS_FRAM [2] PI6
S C2
C19

3 PI7 SPI6_CS2_EXTERNAL2 [5]

W D2 SPI6_CS3_EXTERNAL2 [5]
4 7 PI8
VSS HOLD D3 CAN1_RX [6]
PI9
E3 SPI5_CS2_EXTERNAL1 [5]
U3 PI10

B B
E4
FM25V02-G/SO8 PI11
Heater Power Switch
Heating resistor and Temperature sensor are place on IMU Board
VDD_5V_IN 1A/7V Max
FP6861
U15

HW REV and VER 5 1

High Light RGB LED VIN VOUT HEAT_VDD [5]

Power trace from LDO is very long,

Micro SD VDD_3V3_SD_CARD
C24 close to J2 [2] HEATER 4
EN
FLT
3

GND
FMU_VDD_3V3 VDD_5V_IN

10U/10V/C0603

10U/10V/C0603
10K/1%/R0402

10U/10V/C0603

10U/10V/C0603
10U/10V/C0603

C101

C102

2
C24

R6

C87

C88
2.2K/1%/R0402
2.2K/1%/R0402
2.2K/1%/R0402
R11

R40

R41
R31

R39

C87-C88,C101-C102 can be replaced by one 47uF/0805 cap

NC

NC
100K/1%/R0402
100K/1%/R0402

100K/1%/R0402

100K/1%/R0402

100K/1%/R0402

4 0603 caps are used, because of height limited

R16
R99

R17
13

14

R125

R124

1 SDMMC1_D2 [2]
GND

GND

D2

Green/LED0603
2 [2]

Blue/LED0603
SDMMC1_D3

Red/LED0603
D3 [2]

LED1

LED2

LED4
3 [2] HW_REV_SENSE
CMD SDMMC1_CMD [2]
4 HW_VER_SENSE
MICROSD_KINMOX VCC

Holybro
5 COMPANY:
CLK SDMMC1_CLK [2]
J2 6
GND
7 [2]
NC

D0 SDMMC1_D0
NC

A A
8 SDMMC1_D1 [2]
D1
9
GND

GND

CD TITLE:
[2] NLED_BLUE

Main Board of Durandal-Flight-Control

R127

R126
12

11

[2] NLED_GREEN
[2] NLED_RED
[2] DRAWN: DATED:
HW_REV_DRIVE
HW_VER_DRIVE [2] Jamming 2018/12/6

CHECKED: DATED: Sheet:

CODE: SIZE: REV:
Jamming 2018/12/8
STM32FH743IIK
024 A2
QUALITY CONTROL: DATED:
RC02

RELEASED: DATED:
Jamming 2018/12/20 SCALE: 1:1 SHEET: 2 OF 9