GLDrone_PX4_R329 - 嘉立创EDA开源硬件平台

标准版 GLDrone_PX4_R329

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简介：GLPX4-R329是一款使用全志R329方案在Linux上运行PX4飞控固件的Linux飞控。项目主页：https://www.guanglundz.com/gldrone/glpx4-r329

开源协议: MIT

创建时间： 2022-02-24 10:47:48

更新时间： 2023-03-26 23:04:17

描述

# GLPX4-R329 [项目主页](https://www.guanglundz.com/gldrone/glpx4-r329) ## 方案说明 | 类别 | 方案 | | :---: | :---: | | 主控 | 全志R329 | | IMU | ICM-20689 ICM-20602 | | 磁力计 | IST8310 | | 气压计 | MS5611 | | WIFI | RTL8723DS | | 光流(可选模块) | PMW3901MB | | 激光(可选模块) | VL53L1X | ![GLPX4-R329.png](//image.lceda.cn/pullimage/2XOliKjRBRHzpXzroqxVF2MR2j6b5DZWAIjeOU5f.png)
[GLPX4-R329原理图PCB开源地址](https://oshwhub.com/guanglun/gldrone_px4_r329) [BLHeli电调原理图PCB开源地址](https://oshwhub.com/guanglun/gldrone_blheli_esc)

[Linux内核源码5.14](https://github.com/guanglun/linux)(使用`r329-gldrone`分支) [armbian源码](https://github.com/guanglun/gldrone-r329-armbian)(使用`r329-gldrone`分支) [PX4源码](https://github.com/guanglun/PX4-Autopilot)(使用`GLPX4_R329`分支`make px4_r329_default`) 特别感谢sipeed的[MaixSense R329](https://github.com/guanglun/PX4-Autopilot)方案！硬件设计及系统及内核皆参考该[R329方案](https://dl.sipeed.com/shareURL/MaixII/MaixII-A)！ R329: 双核 ARM Cortex™-A53@1.5GHz,内置 DDR3 256MB ![top.png](//image.lceda.cn/pullimage/5B9QrVhyVh9vbe1PMdYpPD1Qqu5eoQTM9TMd65Pq.png) ![bottom.png](//image.lceda.cn/pullimage/T2XXJnSXiKzJHtNfLTFMiY2hUp7yTdWeeAp51zmL.png) ## 接口说明 ![GLPX4-R329-pinout.png](//image.lceda.cn/pullimage/o6JkHNXHimLxsY99lAfuwF5AGmBWZLfMnXVHGmvU.png) USB摄像头 MJPG-Streamer: ![mjpg-streamer.png](//image.lceda.cn/pullimage/FY0oUD4R9lCBsNPVEelZb9lrsdYb4kP8WVJAoCRd.png) 同时运行PX4与USB摄像头WIFI图传: ![htop.png](//image.lceda.cn/pullimage/RqNidrHtVW4LBMAhWHPhLnkG7VfDwc6w6xgMqag5.png) 实物靓图: ![gl4.jpg](//image.lceda.cn/pullimage/gkeua5x1ZF52f22wbIUQxnxmc0uSaj4BGQ4cbXdC.jpeg) ### GLPX4-R329开源运行在Linux上的PX4飞控讲解+试飞 [B站视频](https://www.bilibili.com/video/BV1UD4y1C7Jm)

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ID	Name	Designator	Footprint	Quantity
1	33R	R45,R47,R48	R0402	3
2	0R	R46,R21,R24,R3,R5,R14,R26,R30	R0402	8
3	R329	U1	R329-LFBGA231	1
4	18pF	C17,C18	C0402	2
5	22pF	C19,C20	C0402	2
6	100nF	C21,C32,C33,C2,C4,C5,C8,C9,C11,C15,C41,C42,C43,C44,C45,C46,C47	C0402	17
7	NC	C22	C0603	1
8	10uF	C23,C27,C30,C39,C3,C10,C16,C50	C0603	8
9	NC	C24,C48,C49	C0402	3
10	2.2uF	C25,C26,C28,C29,C34,C35,C36,C40,C59,C63	C0402	10
11	4.7nF	C31	C0402	1
12	470nF	C37,C38,C60	C0402	3
13	10M	R22	R0402	1
14	47K	R23	R0402	1
15	240R	R25	R0402	1
16	TS3320A	SW1,SW2	KEY-SMD_4P-L3.3-W3.3-P2.20-LS3.9	2
17	24MHz	X1	OSC-YSX-3225_4P	1
18	XTAL_FC135-32.768K	X2	CRYSTAL-SMD_L3.2-W1.5	1
19	NC/20pF	C1,C12,C14	C0402	3
20	4.7uF	C6,C7,C13,C51	C0603	4
21	1N4001	D1	SMAF_L3.5-W2.6-LS4.6-RD-1	1
22	2.2uH	L1,L2,L3	L1008	3
23	LED-0603_R	LED1	LED0603_RED	1
24	NC/0R	R1,R80,R27,R28,R77,R78	R0402	6
25	15K	R2	R0402	1
26	130K	R4	R0402	1
27	13K	R6,R13	R0402	2
28	100K	R7,R8,R11,R12,R16,R18,R38	R0402	7
29	18K	R9	R0402	1
30	20K	R10	R0402	1
31	340K	R15	R0402	1
32	10K	R17,R20,R66,R67,R68,R69,R74,R76,R31	R0402	9
33	450K	R19	R0402	1
34	STI34061	U2,U3	SOT-23-5_L3.0-W1.7-P0.95-LS2.8-BL	2
35	TMI3411	U4	SOT-23-5_L2.9-W1.6-P0.95-LS2.8-BL	1
36	2.2u	C72,C53	C0603	2
37	A1002WR-S-4P	CN1,CN2,CN3,CN4,CN6,CN7	CONN-SMD_A1002WR-S-4P	6
38	A1002WR-S-8P	CN10	CONN-SMD_A1002WR-S-8P	1
39	X1321FVS-2X06-C43D48	H1	HDR-SMD_12P-P1.27-V-F-R2-C6-LS4.8	1
40	Double row of needle2*6 1.27mm	H2	HEADER-SMD_2X6-P1.27	1
41	22R	R70,R71,R72,R73,R54,R55,R64,R65	R0402	8
42	NC	R75	R0402	1
43	NC/10K	R79,R41,R42	R0402	3
44	NC7SZ86M5X	U11	SOT-23-5_L3.0-W1.7-P0.95-LS2.8-BL	1
45	10u	C54,C73,C74,C75,C76,C77,C78,C79,C80,C81,C82	C0805	11
46	0.1u	C55	C0402	1
47	0.1uF	C56,C57,C58,C61,C62,C64,C66,C67,C68,C70,C71	C0402	11
48	4.7uF	C65	C0402	1
49	1KΩ	L4	L0402	1
50	ICM-20689	R49	QFN-24_L4.0-W4.0-P0.50-TL-EP2.6	1
51	1k	R50,R51,R56	R0402	3
52	ICM-20602	U6	LGA-16_L3.0-W3.0-P0.50-BL	1
53	MS5611-01BA03	U7	SENSORS-SMD_MS5611-01BA03	1
54	LP5907QMFX-3.3Q1	U8	SOT-23-5_L3.0-W1.7-P0.95-LS2.8-BR	1
55	IST8310	U9	LGA-16-3*3	1
56	22uF	C69	C0603	1
57	473521001	CARD1	SD-SMD_SD-47352-101	1
58	SS24_C84169	D2	DO-214AC_L4.3-W2.7-LS5.3-RD	1
59	RB551V-30	D3	SOD-323_L1.8-W1.3-LS2.5-RD	1
60	ESD5451X-2/TR	D4,D5,D6,D7,D8,D9,D10	FBP-02C_L1.0-W0.6-RD	7
61	LTST-C19HE1WT	LED2	LED-SMD_LTST-C19HE1WT	1
62	10k	R52,R53,R57,R63	R0402	4
63	220R	R58,R59,R60,R61,R62	R0402	5
64	CH340E	U10	MSOP-10_L3.0-W3.0-P0.50-LS5.0-BL	1
65	TYPE-C-31-M-12	USBC1	USB-C_SMD-TYPE-C-31-M-12	1
66	NC/5.6pF	C52	C0402	1
67	U.FL-R-SMT-1(10)	JP1	ANT-SMD_UFL-R-SMT-1-10	1
68	AN9520-245	L6	ANT-SMD_L9.5-W2.1	1
69	NC/100K	R29,R39,R40,R44	R0402	4
70	33K	R32,R33,R34,R35,R36,R37	R0402	6
71	NC/4.7K	R43	R0402	1
72	RTL8723DS模块	U5	WIFIM-SMD_44P-L12.0-W12.0-P0.90_RTL8723DS	1

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