TMR-FC : Top Multi-Rotor Flight Controller

Descriptions

• 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

Resources

• DIY Drones Blog :

  Open Hardware and Software : TMR-FC V1.0

• User Guide :

  TMR_FC_UM_V1_120730.pdf

• Sechematic :

  TMR_FC_HW_V1_120830.pdf

• Gerber :

  TMRFC_GB_V1_120930.rar

• Software :

  Actually, the software is Porting from "PX4"

  PX4 Autopilot Project

  PX4 Autopilot Website

Get source code

• 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'
  

Hardware Features

• 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 :

Firmware update steps

Update bootloader

• 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"

  Segger J-Link EDU official website

Update OS image

• 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"

  Segger J-Link EDU official website

Finally, Enjoy your TMR-FC !!

Please contact us via email for additional information.

Sincerely yours.

TSAO, CHIA-CHENG @NTUT, Taiwan ( chiacheng.tsao@gmail.com )