The Cube Module Overview

The Cube Fixed Board

  • Black, Green, BlueF4, PurpleF4 STM32F427; flash 2MB, RAM 256KB.
  • Yellow STM32F777; flash 2MB, Ram 512KB.
  • Orange, BlueH7, PurpleH7 STM32H753; flash 2MB, RAM 1MB.
  • On-board 16KB SPI FRAM
  • Black, Green, BlueF4, Purple MPU9250 16G integrated accelerometer / gyro.
  • Orange, BlueH7, ICM 20649 30G integrated accelerometer / gyro.
  • MS5611 Barometer
  • All sensors connected via SPI.
  • Micro SD interfaces via SDIO.
*CubeBlue “manufactured in USA with US and allied components”

EOL And Substitution

  • MPU9250, LSM303D, L3GD20 are all EOL, As such, all new designs should use the H7 based boards CubeBlueH7, CubeOrange, and CubePurpleH7 are 100% plug and play with all carrier boards that are compliant with our reference design dating back to 2014.
  • at the time of the latest edit here, cube PurpleF4 was still in stock, but when stocks run out, CubePurpleH7 will take its place.

Vibration Damped IMU board version 1 (Fitted to Cube Black, Cube BlueF4, Cube Green)

  • LSM303D integrated accelerometer / magnetometer.
  • L3GD20 gyro.
  • MPU9250 Gyro / Accel
  • MS5611 Barometer
  • All sensors connected via SPI.

Vibration Damped IMU board version 2 (Fitted to Cube Orange, Cube BlueH7 and Cube Yellow)

  • ICM20602
  • ICM 20948
  • MS5611 Barometer
  • All sensors connected via SPI.

I/O ports

  • 14 PWM servo outputs (8 from IO, 6 from FMU).
  • R/C inputs for CPPM, Spektrum / DSM and S.Bus.
  • Analogue / PWM RSSI input.
  • S.Bus servo output.
  • 5 general purpose serial ports, 2 with full flow control
  • Two I2C ports
  • One SPI port (un-buffered, for short cables only not recommended for use).
  • Two CAN Bus interface. (CAN FD for BlueH7 and Orange with CubePilot Logo)
  • 3 Analogue inputs
  • High-powered piezo buzzer driver. (On expansion board)
  • High-power RGB LED. (I2C driver compatible Connected externally only)
  • Safety switch / LED.

System architecture

The Cube continues with the FMU + IO architecture from the previous generation, incorporating the two functional blocks in a single physical module.

PWM Outputs

The Cube has eight PWM outputs that are connected to IO and can be controlled by IO directly via R/C input and on-board mixing even if FMU is not active (failsafe / manual mode). Multiple update rates can be supported on these outputs in three groups; one group of four and two groups of two. PWM signal rates up to 400Hz can be supported. These 8 PWM's are output ONLY and are capable of driving up to 50mA each, but only a total of 100mA for the 8.
Six PWM outputs are connected to FMU and feature reduced update latency. These outputs cannot be controlled by IO in failsafe conditions. Multiple update rates can be supported on these outputs in two groups; one group of four and one group of two.
PWM signal rates up to 400Hz can be supported.
All PWM outputs are EDS-protected, and they are designed to survive accidental mis-connection of servos without being damaged. The servo drivers are specified to drive a 50pF servo input load over 2m of 26AWG servo cable.
the I/O PWM outputs can also be configured as individual GPIOs. Note that these are not high-power outputs – the PWM drivers are designed for driving servos and similar logic inputs only, not relays or LEDs.

Peripheral Ports

All peripherals are connected through a single 80 pin connector, and the peripherals are connected via a baseboard that can be customized for each application

Base Board

The initial base board features separate connectors for each of the peripheral ports (with a few exceptions.
Five serial ports are provided. Serial 1 and 2 feature full flow control. Serial 3 is recommended as the GPS port and has the safety button and (possibly the safety led) as well as I2C for the compass and RGB LED. Serial 4 also has I2C, but on the second bus, thus allowing two compass modules to be connected at the same time. Serial 5 is available as a header underneath the board. Serial ports are 3.3V CMOS logic level, 5V tolerant, buffered and ESD-protected.
The SPI port is not buffered; it should only be used with short cable runs. Signals are 3.3V CMOS logic level, but 5V tolerant. SPI is only available to test points on the first base board, along with a CS and INT pin.
Analogue 1-3 are protected against inputs up to 12V, but scaled for 0-3.3V inputs. The RSSI input supports either PWM or analogue RSSI. This input shares a pin with S.Bus output - only one may be connected at a time.
CPPM, S.Bus and DSM/Spektrum input are unchanged from previous versions.
The CAN ports are standard CAN-Bus; termination for one end of the bus is fixed on- board. Drivers are on-board the FMU
The piezo port will drive most piezo elements in the 5 - 300nF range at up to 35V. it is intended to be extremely loud, with the achievable sound pressure level limited by the sensitivity of the piezo element being driven.
I2C is direct driven, un-buffered, and pulled up to *3.3v on-board* the FMU
Serial 5 is used for the on-board ADSB-IN receiver that is featured on newer carrier boards

Sensors

All flight sensors in The Cube are connected via SPI.
CUBE TYPE
Life Cycle
IMU1
IMU2
IMU3
Baro1
Baro2
CubeBlack CubeBlueF4 CubeGreen
EOL
MPU9250
LSM303D/L3GD20
MPU9250
MS5611
MS6511
CubeBlack+
EOL
MPU9250
ICM20602
ICM20948
MS5611
MS5611
CubePurpleF4
EOL
MPU9250
NA
NA
MS5611
NA
CubePurpleH7
ACTIVE
ICM20649
NA
NA
MS5611
NA
CubeOrange CubeYellow CubeBlueH7
ACTIVE
ICM20649
ICM20602
ICM20948
MS5611
MS5611
IMU1, Non-Isolated IMU2 & 3, Isolated Data-ready signals from all sensors are NOT ROUTED on the Isolated IMU
*CubeBlue “manufactured in USA with US and allied components”

Power Architecture

The Cube removes the power management from the FMU, the Servo rail is no longer the primary source of backup power for the FMU, and it leaves it there for the IO last chance failsafe.
The supply of 3.3v
  • Split digital and analogue power domains for FMU and sensors.
  • Backup power for IO in the case of FMU power supply failure.

Power management module (separate from the FMU)

Key features of The Cube power architecture:
  • Single, independent 5V supply for the flight controller and peripherals.
  • Integration with *2 power bricks* or compatible alternative, including current and voltage sensing.
  • Low power consumption and heat dissipation.
  • Power distribution and monitoring for peripheral devices.
  • Protection against common wiring faults; under/over-voltage protection, overcurrent protection, thermal protection.
  • Brown-out resilience and detection.

FMU and IO Power Supplies

Both FMU and IO operate at 3.3V, and each has its own private dual-channel regulator. As in The Cube (formerly known as Pixhawk), each regulator features a power-on reset output tied to the regulator’s internal power-up and drop-out sequencing.

Power Sources

Power may be supplied to The Cube via USB, via the power brick port, or the second brick port. Each power source is protected against reverse-polarity connections and back-powering from other sources.
The Cube F4 series FMU + IO power budget is 450mA, including all LEDs and the Piezo buzzer. Peripheral power is limited to 2.5A total. The Cube F7 and H7 series FMU + IO power budget is 550mA, including all LEDs and the Piezo buzzer. Peripheral power is limited to 2.5A total.
The increase in power budget is due to the improved heater on the cube orange
USB IS NOT RECOMMENDED IN FLIGHT ON Nuttx code

Power Brick Port

The brick port is the preferred power source for Cube, and brick power will always be selected if it is available.

Servo Power

The Cube supports both standard (5V) and high-voltage (up to 10V) servo power with some restrictions.
IO will accept power from the servo connector up to 10V. This allows IO to failover to servo power in all cases if the main power supply is lost or interrupted.
FMU and peripherals will NOT accept power from the servo connector.

Aux Power

The Cube introduces a backup power port; this is set up the same as the primary power input.
At input voltages over 5.7V power is locked out.
The Cube and peripherals combined may draw up to 2.75A total when operating on Aux power, provided that the Brick or other power source can supply the required current.
Power is never supplied by The Cube to servos.

Servo rail

The I/O chip takes power up to 10.5v from the servo rail; this is used to revert to manual mode in the unfortunate event that the other two main sources of power fail. This is only useful for plane, and only useful if the I/O chip has been mapped correctly.

USB Power

Power from USB is supported for software update, testing and development purposes. USB power is supplied to the peripheral ports for testing purposes, however total current consumption must typically be limited to 500mA, including peripherals, to avoid overloading the host USB port.

Multiple Power Sources

When more than one power source is connected, power will be drawn from the highest-priority source with a valid input voltage.
In most cases, FMU should be powered via the power brick or a compatible off board regulator via the brick port or auxiliary power rail.
In desktop testing scenarios, taking power from USB avoids the need for a BEC or similar servo power source (though servos themselves will still need external power).

Summary

For each of the components listed, the input voltage ranges over which the device can be powered from each input is shown.
Brick port
Aux port
USB port
Servo rail
FMU
4 - 5.7V
4 - 5.7V
4 - 5.7V
NIL
IO
4 - 5.7V
4 - 5.7V
4 - 5.7V
4 - 10.5V
Peripherals
4 - 5.7 2.5A max
4 - 5.7 2.5A max
4 - 5.7 2.5A max
NIL
The Cube provides power routing, over/under voltage detection and protection, filtering, switching, current-limiting and transient suppression for peripherals. Power outputs to peripherals feature ESD and EMI filtering, and the power supply protection scheme ensures that no more than 5.5V is presented to peripheral devices. Power is disconnected from the peripherals when the available supply voltage falls below 2.7V, or rises above approximately 5.7V.
Peripheral power is split into two groups:
Serial 1 (TELEM 1) has a private 1.5A current limit, intended for powering a low power. This output is separately EMI filtered and draws directly from the USB / Brick inputs. Peak power draw on this port should not exceed 1.5A, never power your telemetry from this port under any circumstance.
All other peripherals share a 1A current limit and a single power switch. Peak power draw on this port should not exceed 1.5A. Each group is individually switched under software control.
The Spektrum / DSM R/C interface draws power from its own regulator, rather than from either of the groups above. This port is switched under software control so that Spektrum / DSM binding can be implemented. Spektrum receivers generally draw ~25mA.
S.Bus and CPPM receivers are powered by a dedicated power supply. Please do not connect any servos to this power, only an RX by itself.

Capacitor Backup

Both the FMU and IO microcontrollers feature Capacitor-backed real-time clocks and SRAM. The on-board backup Capacitor has capacity sufficient for the intended use of the clock and SRAM, which is to provide storage to permit orderly recovery from unintended power loss or other causes of in-air restarts. The capacitors are recharged from the FMU 3.3V rail. this will only function in the event of software existing to support this feature.

Voltage, Current and Fault Sensing

The battery voltage and current reported by both bricks can be measured by the FMU. In addition, the 5V unregulated supply rail can be measured (to detect brown- out conditions). IO can measure the servo power rail voltage.
Over-current conditions on the peripheral power ports can be detected by the FMU. Hardware lock-out prevents damage due to persistent short-circuits on these ports. The lock- out can be reset by FMU software. The under/over voltage supervisor for FMU provides an output that is used to hold FMU in reset during brown-out events.

EMI Filtering and Transient Protection (on the normal Base Board, must be specified for externally supplied base boards.)

EMI filtering is provided at key points in the system using high-insertion-loss pass- through filters. These filters are paired with TVS diodes at the peripheral connectors to suppress power transients.
Reverse polarity protection is provided at each of the power inputs. USB signals are filtered and terminated with a combined termination/TVS array.
Most digital peripheral signals (all PWM outputs, serial ports, I2C port) are driven using ESD-enhanced buffers and feature series blocking resistors to reduce the risk of damage due to transients or accidental misconnections.

The Cube Series Interface Specification

Scope of this Document
This document covers the complete interface standard and core mechanical, electrical and external connection options of The Cube module series. Sections marked as LT (long term) are intended to be kept stable to isolate vehicle from autopilot revisions.
Interface Standard
Connector Series
Low density: 0.1” over mould Futaba keyed servo connectors (Mfg. to be identified)
Cabling: AWG24, ribbon or round, iconic colour scheme
Stack: Hirose DF17, 80pos , 4 mm stacking height, 0.5 mm pitch, drop-proof
High density: JST-GH 1.25 mm
Cabling: AWG28, ribbon, iconic colour scheme
Power Module: Molex Clik-Mate 2 mm for both main and backup power(on bottom of board?)
The Cube
Mechanical: 30x30 mm M3 mounting hole pattern, 35x35 mm footprint
80 position DF17 connector. Carries all autopilot interface connections.
Minimal (read: really minimal) electrical protection
No power management
3.8 to 5.7V operation (absolute maximum ratings)
4.0 to 5.5V operation (compliant rating)
The Cube IO
Total connectivity:
2x I2C
2x CAN: CAN1 and CAN2
4x UART: TELEM1, TELEM2, GPS (I2C 1 embedded), SERIAL4(I2C 2 embedded)
1x Console: CONSOLE (SERIAL5)
1x HMI: USB extender
Main Power - 6 pos (ClikMate 6 pos 2.0mm) | Connector:POWER1
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VDD_5V_BRICK
IN
5 V
RED/GRAY
Supply To AP from Power Brick
2
VDD_5V_BRICK
IN
5 V
RED/GRAY
Supply To AP from Power Brick
3
BATT_CURRENT_SENS_PROT
3.3 V
BLACK
Battery Current Connecter
4
BATT_CURRENT_VOLTAGE_PROT
IN
3.3 V
BLACK
Battery Voltage Connecter
5
GND
-
GND
BLACK
GND connection
6
GND
-
GND
BLACK
GND connection
Backup Power - 6 pos | Connector:POWER2
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VDD_5V_BRICK
IN
5 V
RED/GRAY
Supply To AP from Power Brick
2
VDD_5V_BRICK
IN
5 V
RED/GRAY
Supply To AP from Power Brick
3
AUX_BATT_CURRENT_SENS
-
3.3 V
BLACK
Aux Battery Current Connecter
4
AUX_BATT_VOLTAGE_SENS
IN
3.3 V
BLACK
Aux Battery Voltage Connecter
5
GND
-
GND
BLACK
GND connection
6
GND
-
GND
BLACK
GND connection
I2C - 4 pos (1 fitted as a standalone, 1 old internal) | Connector:I2C2
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VCC_5V
OUT
5 V
RED/GRAY
Supply to peripheral from AP
2
I2C_2_SCL
IN/OUT
3.3 V (PULLUPS)
BLUE/BLACK
SCL, Pull-up on AP
3
I2C_2_SDA
IN/OUT
3.3 V (PULLUPS)
GREEN/BLACK
SDA, Pull-up on AP
4
GND
GND
BLACK
GND connection
CAN (2 fitted) | Connector:CAN1, CAN2
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VCC_5V
OUT
5 V
RED/GRAY
Supply to peripheral from AP
2
CAN_H
IN/OUT
12 V
YELLOW/BLACK
CAN High
3
CAN_L
IN/OUT
12 V
GREEN/BLACK
CAN Low
4
GND
-
GND
BLACK
GND connection
UART GENERIC (autopilot side) | Connector : TELEM1, TELEM2
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VCC_5V
OUT
5 V
RED/GRAY
Supply to peripheral from AP
2
MCU_TX
OUT
3.3 V - 5.0 V TTL
YELLOW/BLACK
TX of AP
3
MCU_RX
IN
3.3 V - 5.0 V TTL
GREEN/BLACK
RX of AP
4
MCU_CTS (TX)
OUT
3.3 V - 5.0 V TTL
GRAY/BLACK
CTS (Clear To Send)
5
MCU_RTS (RX)
IN
3.3 V - 5.0 V TTL
GRAY/BLACK
RTS (Request To Send)
6
GND
-
GND
BLACK
GND connection
UART GPS (autopilot side, I2C is the original “External” bus), UART 3 | Connector:GPS1
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VCC_5V
IN
5 V
RED
Supply to GPS from AP
3
GPS_RX
OUT
3.3 V - 5.0 V TTL
BLACK
TX of AP
2
GPS_TX
IN
3.3 V - 5.0 V TTL
BLACK
RX of AP
4
SCL
IN
3.3 V
BLACK
I2C 1 SCL
5
SDA
IN/OUT
3.3 V
BLACK
I2C 1 SDA
6
BUTTON
OUT
GND
BLACK
Signal shorted to GND on press
7
IO_LED_SAFET_PROT
OUT
GND
BLACK
LED Driver For Safety Button
8
GND
-
GND
BLACK
GND connection
UART 4 (I2C2, the original “Internal” bus) | Port:GPS2
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
VCC_5V
OUT
5 V
RED/GRAY
Supply to GPS from AP
2
MCU_TX
OUT
3.3 V - 5.0 V TTL
YELLOW/BLACK
TX of AP
3
MCU_RX
IN
3.3 V - 5.0 V TTL
GREEN/BLACK
RX of AP
4
SCL
OUT
3.3 V - 5.0 V
GRAY/BLACK
I2C 2 SCL
5
SDA
IN
3.3 V - 5.0 V
GRAY/BLACK
I2C 2 SDA
6
GND
-
GND
BLACK
GND connection
UART 5 (Debug), S.Bus out - FR-SKY TELEM? or Debug | Port:CONS SBUSo
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
S.Bus_Out
OUT
S.Bus Signal Output, TX of AP
2
MCU_TX
OUT
3.3 V - 5.0 V TTL
TX of AP
3
VDD_SERVO
OUT
Servo Voltage
Servo rail voltage
4
MCU_RX
IN
3.3 V - 5.0 V TTL
RX of AP
5
GND
-
GND
GND connection
6
GND
-
GND
GND connection
Debug (New Standard Debug) (Digikey PN for housing SM06B-SURS-TF(LF)(SN)-ND)
IO DEBUG
Pin #
Name
I/O
Voltage
Wire Color
Description
1
VDD 5V PEIPH
OUT
5 V
5V
2
IO_TX
OUT
3.3 V - 5.0 V TTL
TX of AP IO_uart1 TX
3
IO_RX
IN
3.3V - 5.0 V TTL
RX of AP IO_uart1 RX
4
IO-SWDIO
I/O
3.3 V - 5.0 V TTL
Serial wire debug I/O
5
IO-SWCLK
I/O
3.3 V - 5.0 V TTL
Serial wire Clock
6
GND
OUT
GND
GND connection
FMU DEBUG
Pin #
Name
I/O
Voltage
Wire Color
Description
1
VDD 5V PEIPH
OUT
5 V
5V
2
FMU_TX (SERIAL 5)
OUT
3.3 V - 5.0 V TTL
TX of AP FMU_uart5 TX
3
FMU_RX (SERIAL 5)
IN
3.3V - 5.0 V TTL
RX of AP FMU_uart5 RX
4
FMU-SWDIO
I/O
3.3 V - 5.0 V TTL
Serial wire debug I/O
5
FMU-SWCLK
I/O
3.3 V - 5.0 V TTL
Serial wire Clock
6
GND
OUT
GND
GND connection
Analogue | Port:ADC
Pin #
Name
I/)
Voltage
Wire Color
Description
1
VDD_5V_Periph
OUT
2
Pressure sense in
IN
3
GND
-
GND connection
IO USART 1 / DSM / Spektrum | Port:SPKT
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
IO_USART1_RX_SPECTRUM_DSM
IN
IO USART 1 RX, DSM INPUT
2
GND
-
GND
GND
3
VDD_3V3_Spektrum
OUT
3.3 V
private Power Supply
HMI (Buzzer, USB, LEDs) | Port:USB
Pin #
Name
I/O
Voltage
Wire Colour
Description
1
V BUS
OUT
5 V
RED/GRAY
USB V BUS
2
OTG_DP1
IN/OUT
3.3 V
GREEN/BLACK
USB Data Positive (D+)
3
OTG_DM1
IN/OUT
3.3 V
RED/BLACK
USB Data Minus (D-)
4
GND
-
GND
BLACK
GND
5
BUZZER_OUT
OUT
Battery Voltage
GRAY/BLACK
VBAT (8.4 - 42 V)
6
FMU_LED_AMBER
OUT
BLACK
Boot / Error LED (FW updates)
Back Edge (may rearrange to suit PCB layout) | Port:RCIN MAIN OUT AUX OUT
SERVO HEADER (0.1”, 1/1/15 power layout)
Pin #
Name
I/O
Voltage
Wire Colour
Description
S - 1
FMU_CH1_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 2
FMU_CH2_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 3
FMU_CH3_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 4
FMU_CH4_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 5
FMU_CH5_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 6
FMU_CH6_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 7
IO_CH1_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 8
IO_CH2_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 9
IO_CH3_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 10
IO_CH4_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 11
IO_CH5_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 12
IO_CH6_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 13
IO_CH7_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 14
IO_CH8_PROT
OUT
3.3 V Servo Signal, Servo Rail Power
PWM Signal
S - 15
PPM_SBUS_PROT
IN/OUT
3.3 V / 4.5 V Powered
PPM / S.Bus Signal
The Cube 80-pin DF17 Connector (LONG TERM STANDARD!)
Pin #
Name
I/O
Description
1
FMU_SWDIO
I/O
FMU serial wire debug I/O
2
FMU_LED_AMBER
O
Boot error LED (drive only, controlled by FET)
3
FMU_SWCLK
O
FMU serial wire debug clock
4
I2C_2_SDA
I/O
I2C Serial Data Tx/Rx
5
EXTERN_CS
O
Chip select for external SPI (NC, just for debugging)
6
I2C_2_SCL
O
I2C Serial Clock Signal
7
FMU_!RESET
I
Reset pin for the FMU
8
PROT_SPARE_1
Spare
9
VDD_SERVO_IN
I
Power for last resort I/O failsafe
10
PROT_SPARE_2
Spare
11
EXTERN_DRDY
I
Interrupt pin for external SPI (NC, just for debugging)
12
SERIAL_5_RX
I
UART 5 RX (Receive Data)
13
GND
System GND
14
SERIAL_5_TX
O
UART 5 TX (Transmit Data)
15
GND
System GND
16
SERIAL_4_RX
I
UART 4 RX (Receive Data)
17
SAFETY
Safety button input
18
SERIAL_4_TX
O
UART 4 TX (Transmit Data)
19
VDD_3V3_SPEKTRUM_EN
O
Enable for the Spektrum voltage regulator
20
SERIAL_3_RX
I
UART 3 RX (Receive Data)
21
PRESSURE_SENS_IN
AI
Analogue Signal port, for pressure sensor, Laser range finder, or Sonar
22
SERIAL_3_TX
O
UART 3 TX (Transmit Data)
23
AUX_BATT_VOLTAGE_SENS
AI
Voltage sense for Aux battery input
24
ALARM
O
Buzzer PWM Signal
25
AUX_BATT_CURRENT_SENS
AI
Current sense for Aux battery input
26
IO_VDD_3V3
I
IO chip power, pinned through for debug
27
VDD_5V_PERIPH_EN
O
Enable voltage supply for Peripherals
28
IO_LED_SAFET_PROT
O
IO-LED_SAFETY (safety LED) pinned out for IRIS
29
VBUS
I
USB VBus (VDD)
30
SERIAL_2_RTS
UART 2 RTS (Request To Send)
31
OTG_DP1
I/O
USB Data+ (D)
32
SERIAL_2_CTS
UART 2 CTS (Clear To Send)
33
OTG_DM1
I/O
USB Data- (M)
34
SERIAL_2_RX
I
UART 2 RX (Receive Data)
35
I2C_1_SDA
I/O
I2C Serial Data Tx/Rx
36
SERIAL_2_TX
O
UART 2 TX (Transmit Data)
37
I2C_1_SCL
O
I2C Serial Clock Signal
38
SERIAL_1_RX
I
UART 1 RX (Receive Data)
39
CAN_L_2
I/O
FMU CAN bus Low Signal Driver
40
SERIAL_1_TX
O
UART 1 TX (Transmit Data)
41
CAN_H_2
I/O
FMU CAN bus High Signal Driver
42
SERIAL_1_RTS
UART 1 RTS (Request To Send)
43
VDD_5V_PERIPH_OC
I
Error state message from Peripheral power supply
44
SERIAL_1_CTS
UART 1 CTS (Clear To Send)
45
VDD_5V_HIPOWER_OC
I
Error state message from High power Peripheral power supply
46
IO_USART_1_TX
O
I/O USART 1 TX
47
BATT_VOLTAGE_SENS_PROT
AI
Voltage sense from main battery
48
IO_USART1_RX_SPECTRUM_DSM
O
Signal from Spectrum receiver
49
BATT_CURRENT_SENS_PROT
AI
Current sense from main battery
50
FMU_CH1_PROT
O
FMU PWM output channel 1
51
SPI_EXT_MOSI
O
External SPI, for debug only
52
FMU_CH2_PROT
O
FMU PWM output channel 2
53
VDD_SERVO
I
VDD_Servo, for monitoring servo bus
54
FMU_CH3_PROT
O
FMU PWM Output Channel 3
55
VDD_BRICK_VALID
I
Main Power valid signal
56
FMU_CH4_PROT
O
FMU PWM Output Channel 4
57
VDD_BACKUP_VALID
I
Backup Power valid Signal
58
FMU_CH5_PROT
O
FMU PWM Output Channel 5
59
VBUS_VALID
I
USB bus valid signal
60
FMU_CH6_PROT
O
FMU PWM Output Channel 6
61
VDD_5V_IN_PROT
I
Main power (5V) into FMU from power selection
62
PPM_SBUS_PROT
I
PPM / S.Bus Signal Input
63
VDD_5V_IN_PROT
I
Main power (5V) into FMU from power selection
64
S.BUS_OUT
O
S.Bus Signal Output
65
IO_VDD_5V5
O
IO VDD 5.5 V
66
IO_CH8_PROT
O
I/O PWM Output Channel 8
67
SPI_EXT_MISO
I
External SPI, for Debug only
68
IO_CH7_PROT
O
I/O PWM Channel 7
69
IO_SWDIO
I/O
I/O serial wire debug
70
IO_CH6_PROT
O
I/O PWM Output Channel 6
71
IO_SWCLK
O
I/O Serial Wire Debug Clock
72
IO_CH5_PROT
O
I/O PWM Output Channel 5
73
SPI_EXT_SCK
O
External SPI, for Debug only
74
IO_CH4_PROT
O
I/O PWM Output Channel 4
75
IO_!RESET
I
I/O Reset Pin
76
IO_CH3_PROT
O
I/O PWM Output Channel 3
77
CAN_L_1
I/O
FMU CAN bus Low Signal Driver
78
IO_CH2_PROT
O
I/O PWM Output Channel 2
79
CAN_H_1
I/O
FMU CAN bus High Signal Driver
80
IO_CH1_PROT
O
I/O PWM Output Channel 1

Differences between Cube colours

The Cube Series
Cube Orange
Cube Blue H7
Cube Purple H7
Cube Yellow
Cube Black+
Cube Black
Cube Green
Cube Blue
Cube Purple F4
Processor
STM32H753
STM32H753
STM32H753
STM32F777
STM32F427 V3
STM32F427 V3
STM32F427 V3
STM32F427 V3
STM32F427 V3
Remote Signal
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
PPM/SBUS/DSM
I/O PWN Voltage
3.3V/5V software selectable
3.3V/5V software selectable
3.3V/5V software selectable
3.3V/5V software selectable
3.3V
3.3V
5.4v
3.3V
3.3V
Redundancy
Triple Redundancy
Triple Redundancy
N/A
Triple Redundancy
Triple Redundancy