-
TMR-FC is built for my graduation project, It's designed to control a multi-rotor copter for research,
It's supposed to not for sale, but if you are interested, you can build it by your self, I can provide
a empty PCB to you.
-
V1.0
- V2.0 ( Work stand alone or became a daughter board of Raspberry Pi with camera board for flow application )
- Raspberry Pi
Will use OpenCV, ROS, MAVLink ... etc
Offical Website : http://www.raspberrypi.org/
- Camera Module For Raspberry Pi
-
DIY Drones Blog :
-
User Guide :
-
Sechematic :
-
Gerber :
-
Software :
Actually, the software is Porting from "PX4"
-
Clone TMR project :
$ git clone [https://github.com/cctsao1008/TMR](https://github.com/cctsao1008/TMR) Cloning into 'TMR'... remote: Counting objects: 11, done. remote: Compressing objects: 100% (10/10), done. remote: Total 11 (delta 3), reused 5 (delta 1) Receiving objects: 100% (11/11), done. -
Initialize and clone submodules :
$ cd TMR/ $ git submodule update --init --recursive Submodule 'Bootloader' (https://github.com/cctsao1008/Bootloader.git) registered for path 'Bootloader' Submodule 'Firmware' (https://github.com/cctsao1008/Firmware) registered for path 'Firmware' Submodule 'libopencm3' (https://github.com/cctsao1008/libopencm3.git) registered for path 'libopencm3' Cloning into 'Bootloader'... remote: Counting objects: 148, done. remote: Compressing objects: 100% (50/50), done. Receiving objects: 100% (148/148), 52.83 KiB | 19 KiB/s, done. Resolving deltas: 100% (96/96), done. Submodule path 'Bootloader': checked out 'fd53d28c0760c54e93f230f6aafbc99ee09045dc' Cloning into 'Firmware'... remote: Counting objects: 80335, done. remote: Compressing objects: 100% (16927/16927), done. remote: Total 80335 (delta 62860), reused 80332 (delta 62857) Receiving objects: 100% (80335/80335), 46.40 MiB | 2.40 MiB/s, done. Resolving deltas: 100% (62860/62860), done. Submodule path 'Firmware': checked out 'f3fb6509cdf873100c1fe4d0bc379177216c70bc' Submodule 'NuttX' (git@github.com:cctsao1008/NuttX.git) registered for path 'NuttX' Cloning into 'NuttX'... remote: Counting objects: 130874, done. remote: Compressing objects: 100% (23609/23609), done. remote: Total 130874 (delta 106319), reused 130874 (delta 106319) Receiving objects: 100% (130874/130874), 32.98 MiB | 79 KiB/s, done. Resolving deltas: 100% (106319/106319), done. Submodule path 'NuttX': checked out '56433ad9238ccfd7fe3ba3bd1a050ef785dfaea5' Cloning into 'libopencm3'... remote: Counting objects: 7300, done. remote: Compressing objects: 100% (3341/3341), done. remote: Total 7300 (delta 3741), reused 7300 (delta 3741) Receiving objects: 100% (7300/7300), 1.61 MiB | 74 KiB/s, done. Resolving deltas: 100% (3741/3741), done. Submodule path 'libopencm3': checked out '3d3c6d8abf7407f605e0afd1eed533eeb5a3dbb2'
-
CPU :
V1.0 STM32f405RG V2.0 STM32f407VG -
Sensors :
V1.0 I2C : MPU6050, HMC5883, MS5611 V2.0 I2C : HMC5983, MPL3115A2 ( or MS5611 ) SPI : MPU6000, *LSM303DLM, *L3G4200D ADC : *ADXRS652 x 3 * Marked are optional item. In some applications, all sensors can be sharing to Raspberry Pi for applications to use. -
Features :
V1.0 12 channels PWM output, one PPM input and one Futaba S.BUS input, Built-in 10 DOF, 5 LEDs ( controlled by PCA9533/9536), GPS port ( UART / I2C), Auxiliary SPI and GPIO, RF port (APC230 or BT), LiPo Voltage measure via ADC, Beeper for tone alarm, SWD port, SONAR, USB VCP and MSC, Micro SD ( can be read via USB), Light Bar LED control, Internal FLASH EEPROM emulation using sector 1, 2 and 3 ( 16KB x 3 ), RTC ( power keep by 3V CR1220 ), USB OTG, ....... etc V2.0 + CAN transceiver IC ( TJA1050 or MAX3051 ) This version is under construction. I think that using Raspberry Pi to as a brain to control a copter is a good ideas, but I do not have money to do so, :( , If you want co-work with me or any idea on V2.0, please email me, or you want to donate to TMR V2.0. -
Stress Test VB scripts :
Auto re-boot loop test, tone alarm loop test, ..... etc -
Support PX4 Qupgrade tool :
-
Optinn 1 : Using "dfu-util" ( Recommend )
sudo dfu-util -a 0 -d 0x0483:0xdf11 --dfuse-address 0x08000000 -D tmrfc_bl.bin -
Optinn 2 : Using "Segger J-Link"
-
Optinn 1 : Using "dfu-util"
sudo dfu-util -a 0 -d 0x0483:0xdf11 --dfuse-address 0x08004000 -D tmrfc-v1_default.bin -
Option 2 : Using "QUpgrade" ( Recommend )
Note : To using "QUpgrade" if you have " tmrfc_bl.bin" been pre-flashed !!! 1. Get the tool : (https://pixhawk.ethz.ch/px4/downloads)<br /> 2. Open "QUpgrade" tool 3. Select "Advanced" 4. Select your "tmrfc-v1_default.px4" 5. Click "Flash" 6. Connect your TMRFC board via USB, OR click "RESET" key on TMRFC board -
Optinn 3 : Using "Segger J-Link"
Please contact us via email for additional information.
Sincerely yours.
TSAO, CHIA-CHENG @NTUT, Taiwan ( chiacheng.tsao@gmail.com )