After getting the power to work, the next step in bringing up the new quad’s raspberry pi interface board is getting the FDCAN ports to work.  As described in my last roadmap, this board has multiple independent FDCAN buses.  There are 2 STM32G4’s each with 2 FDCAN buses so that every leg gets a separate bus.  There is a 5th auxiliary bus for any other peripherals driven from a third STM32G4.  All 3 of the STM32G4’s communicate with the raspberry pi as SPI slaves.

The next peripheral to get working on the quad’s raspberry pi interface board is the IMU. When operating, the IMU will primarily be used to determine attitude and angular pitch and roll rates.  Secondarily, it will determine yaw rate, although there is no provision within the IMU to determine absolute yaw.

To accomplish this, the board has a BMI088 6 axis accelerometer and gyroscope attached via SPI to the auxiliary STM32G4 along with discrete connections for interrupts.  This chip has 16 bit resolution for both sensors, decent claimed noise characteristics, and supposedly the ability to better reject high frequency vibrations as seen in robotic applications.  I am currently running the gyroscope at 1kHz, and the accelerometer at 800Hz.  The IMU is driven off the gyroscope, with the accelerometer sampled whenever the gyroscope has new data available.

The first thing I needed to get working on the new quad’s raspberry pi3 hat, was the input DC/DC power converter.  One of the main functions of this board is to take the main DC bus voltage of around 20V, and provide the raspberry pi with 5V power.

In the previous iteration of this board, it was limited to an recommended maximum voltage of around 24V.  As with all the components in my hardware revisions I aimed to support a higher input voltage.  Here I switched parts to the Diodes AP64351 so that I could get to a recommended maximum voltage of 32V (the part’s absolute max is 40V).