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65 lines
8.8 KiB
Markdown
65 lines
8.8 KiB
Markdown
Radiomaster NEXUS X and NEXUS XR
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Flight controllers originally designed for helicopters using Rotorflight.
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Based on STM32F722RET6. Both NEXUS X and XR share the same target in iNav.
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Built-in peripherals
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-------------------
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Both models contain a ICM42688P IMU, a SPL06 barometer and a W25N02KVZEIR blackbox memory chip.
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The NEXUS XR also contains a serial ELRS receiver based on the RP4TD-M using ESP32 and two SX1281.
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It is connected to the main STM32F7 Flight Controller on UART5.
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None of the external connections route to the receiver, they are all connected to the STM32F7 Flight Controller.
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The receiver can be disabled using USER1, which controls a pinio on pin PC8.
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Pin configuration
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-----------------
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The RPM, TLM, AUX and SBUS pins are Servo/Motor outputs by default. However, when UART1 or UART2 are assigned a function in the ports tab, the pins will become a UART instead. See the table below.
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| Marking on the case | Both UART1 and UART2 unused | UART1 in use | UART2 in use | Both UART1 and UART2 in use |
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|---------------------|----------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------|
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| S1 | Output S1 | Output S1 | Output S1 | Output S1 |
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| S2 | Output S2 | Output S2 | Output S2 | Output S2 |
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| S3 | Output S3 | Output S3 | Output S3 | Output S3 |
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| TAIL | Output S4 | Output S4 | Output S4 | Output S4 |
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| ESC | Output S5 | Output S5 | Output S5 | Output S5 |
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| RPM | Output S6 | Output S6 | UART2 TX | UART2 TX |
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| TLM | Output S7 | Output S7 | UART2 RX | UART2 RX |
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| AUX | Output S8 | UART1 TX | Output S6 | UART1 TX |
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| SBUS | Output S9 | UART1 RX | Output S7 | UART1 RX |
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| A | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND |
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| B | UART6<br>pin order:<br>TX, RX, 5V, GND | UART6<br>pin order:<br>TX, RX, 5V, GND | UART6<br>pin order:<br>TX, RX, 5V, GND | UART6<br>pin order:<br>TX, RX, 5V, GND |
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| C | I2C<br>pin order:<br>SCL, SDA, 5V, GND<br>or<br>UART3<br>pin order:<br>TX, RX, 5V, GND | I2C<br>pin order:<br>SCL, SDA, 5V, GND<br>or<br>UART3<br>pin order:<br>TX, RX, 5V, GND | I2C<br>pin order:<br>SCL, SDA, 5V, GND<br>or<br>UART3<br>pin order:<br>TX, RX, 5V, GND | I2C<br>pin order:<br>SCL, SDA, 5V, GND<br>or<br>UART3<br>pin order:<br>TX, RX, 5V, GND |
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| EXT-V | battery voltage<br>max 60V<br>pin order:<br>Vbat, GND | battery voltage<br>max 60V<br>pin order:<br>Vbat, GND | battery voltage<br>max 60V<br>pin order:<br>Vbat, GND | battery voltage<br>max 60V<br>pin order:<br>Vbat, GND |
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| built-in ELRS | UART5 | UART5 | UART5 | UART5 |
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All pin orders are from left to right, when looking at the connector on the flight controller.
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**Note that the pin order for "A", "B" and "C" is incorrect on radiomaster's website, it has RX and TX swapped.**
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Hardware layout
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---------------
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| Marking on the case | STM32 pin | Servo | UART | I2C |
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|---------------------|-----------|------------------------------:|---------------:|---------:|
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| S1 | PB4 | TIM3CH1 | n/a | n/a |
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| S2 | PB5 | TIM3CH2 | n/a | n/a |
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| S3 | PB0 | TIM3CH3 | n/a | n/a |
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| TAIL | PA15 | TIM2CH1 | n/a | n/a |
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| ESC | PA9 | TIM1CH2 | UART1 TX | n/a |
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| RPM | PA2 | TIM2CH3<br>TIM5CH3<br>TIM9CH1 | UART2 TX | n/a |
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| TLM | PA3 | TIM2CH4<br>TIM5CH4<br>TIM9CH2 | UART2 RX | n/a |
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| AUX | PB6 | TIM4CH1 | UART1 TX | I2C1 SCL |
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| SBUS | PB7 | TIM4CH2 | UART1 RX | I2C1 SDA |
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| A | PA1/PA0 | TIM1<br>TIM5 | UART2<br>UART4 | n/a |
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| B | PC7/PC6 | TIM3<br>TIM8 | UART6 | n/a |
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| C | PB11/PB10 | TIM2 | UART3 | I2C2 |
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| EXT-V | PC0 | n/a | n/a | n/a |
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| built-in ELRS | PC12/PD2 | n/a | UART5 | n/a |
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The pinout is extremely similar to the F7C reference design from Rotorflight.
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https://github.com/rotorflight/rotorflight-ref-design/blob/master/Reference-Design-F7C.md
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