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.
Orange+ STM32H757; flash 2MB, RAM 1MB.
On-board 16KB SPI FRAM
Black, Green, BlueF4, Purple MPU9250 16G integrated accelerometer / gyro.
Orange,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.

Vibration Damped IMU board version 3 (Fitted to Cube Orange+)

ICM45686 / ICM20649
ICM20948 / ICM42688 / ICM45686_EXT2
ICM42688 / ICM45686
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

CubePurpleF4

EOL

MPU9250

MS5611

CubePurpleH7

ACTIVE

ICM20649

MS5611

CubeOrange CubeYellow CubeBlueH7

ACTIVE

ICM20649

ICM20602

ICM20948

MS5611

CubeOrange+

ACTIVE

ICM45686 / ICM20649

ICM20948 / ICM42688 / ICM45686_EXT2

ICM42688 / ICM45686

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

NIL

4 - 5.7V

4 - 10.5V

Peripherals

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

Serial Ports Parameter

Port Interface and Pin Label

Main Power - | Connector：POWER1

Pin #

Name

I/O

Voltage

Wire Colour

Description

VDD_5V_BRICK

5 V

RED/GRAY

Supply To AP from Power Brick

VDD_5V_BRICK

5 V

RED/GRAY

Supply To AP from Power Brick

BATT_CURRENT_SENS

3.3 V

BLACK

Battery Current Connecter

BATT_VOLTAGE_SENS

3.3 V

BLACK

Battery Voltage Connecter

GND

BLACK

GND connection

GND

BLACK

GND connection

Backup Power - | Connector：POWER2

Pin #

Name

I/O

Voltage

Wire Colour

Description

VDD_5V_BRICK

5 V

RED/GRAY

Supply To AP from Power Brick

VDD_5V_BRICK

5 V

RED/GRAY

Supply To AP from Power Brick

AUX_BATT_CURRENT_SENS

3.3 V

BLACK

Aux Battery Current Connecter

AUX_BATT_VOLTAGE_SENS

3.3 V

BLACK

Aux Battery Voltage Connecter

GND

BLACK

GND connection

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

VCC_5V

OUT

5 V

RED/GRAY

Supply to peripheral from AP

I2C_2_SCL

IN/OUT

3.3 V (PULLUPS)

BLUE/BLACK

SCL, Pull-up on AP

I2C_2_SDA

IN/OUT

3.3 V (PULLUPS)

GREEN/BLACK

SDA, Pull-up on AP

GND

BLACK

GND connection

CAN (2 fitted) | Connector：CAN1, CAN2

Pin #

Name

I/O

Voltage

Wire Colour

Description

VCC_5V

OUT

5 V

RED/GRAY

Supply to peripheral from AP

CAN_H

IN/OUT

12 V

YELLOW/BLACK

CAN High

CAN_L

IN/OUT

12 V

GREEN/BLACK

CAN Low

GND

BLACK

GND connection

UART GENERIC (autopilot side) | Connector : TELEM1, TELEM2

Pin #

Name

I/O

Voltage

Wire Colour

Description

VCC_5V

OUT

5 V

RED/GRAY

Supply to peripheral from AP

MCU_TX

OUT

3.3 V - 5.0 V TTL

YELLOW/BLACK

TX of AP

MCU_RX

3.3 V - 5.0 V TTL

GREEN/BLACK

RX of AP

MCU_CTS (TX)

OUT

3.3 V - 5.0 V TTL

GRAY/BLACK

CTS (Clear To Send)

MCU_RTS (RX)

3.3 V - 5.0 V TTL

GRAY/BLACK

RTS (Request To Send)

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

VCC_5V

5 V

RED

Supply to GPS from AP

GPS_TX

3.3 V - 5.0 V TTL

BLACK

TX of AP

GPS_RX

OUT

3.3 V - 5.0 V TTL

BLACK

RX of AP

SCL

3.3 V

BLACK

I2C 1 SCL

SDA

IN/OUT

3.3 V

BLACK

I2C 1 SDA

BUTTON

OUT

GND

BLACK

Signal shorted to GND on press

IO_LED_SAFET_PROT

OUT

GND

BLACK

LED Driver For Safety Button

GND

BLACK

GND connection

UART 4 (I2C2, the original “Internal” bus) | Port：GPS2

Pin #

Name

I/O

Voltage

Wire Colour

Description

VCC_5V

OUT

5 V

RED/GRAY

Supply to GPS from AP

MCU_TX

OUT

3.3 V - 5.0 V TTL

YELLOW/BLACK

TX of AP

MCU_RX

3.3 V - 5.0 V TTL

GREEN/BLACK

RX of AP

SCL

OUT

3.3 V - 5.0 V

GRAY/BLACK

I2C 2 SCL

SDA

3.3 V - 5.0 V

GRAY/BLACK

I2C 2 SDA

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

S.Bus_Out

OUT

S.Bus Signal Output, TX of AP

MCU_TX

OUT

3.3 V - 5.0 V TTL

TX of AP

VDD_SERVO

OUT

Servo Voltage

Servo rail voltage

MCU_RX

3.3 V - 5.0 V TTL

RX of AP

GND

GND connection

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

VDD 5V PEIPH

OUT

5 V

IO_TX

OUT

3.3 V - 5.0 V TTL

TX of AP IO_uart1 TX

IO_RX

3.3V - 5.0 V TTL

RX of AP IO_uart1 RX

IO-SWDIO

I/O

3.3 V - 5.0 V TTL

Serial wire debug I/O

IO-SWCLK

I/O

3.3 V - 5.0 V TTL

Serial wire Clock

GND

OUT

GND

GND connection

FMU DEBUG

Pin #

Name

I/O

Voltage

Wire Color

Description

VDD 5V PEIPH

OUT

5 V

FMU_TX (SERIAL 5)

OUT

3.3 V - 5.0 V TTL

TX of AP FMU_uart5 TX

FMU_RX (SERIAL 5)

3.3V - 5.0 V TTL

RX of AP FMU_uart5 RX

FMU-SWDIO

I/O

3.3 V - 5.0 V TTL

Serial wire debug I/O

FMU-SWCLK

I/O

3.3 V - 5.0 V TTL

Serial wire Clock

GND

OUT

GND

GND connection

Analogue | Port：ADC

Pin #

Name

I/)

Voltage

Wire Color

Description

VDD_5V_Periph

OUT

Pressure sense in

GND

GND connection

IO USART 1 / DSM / Spektrum | Port：SPKT

Pin #

Name

I/O

Voltage

Wire Colour

Description

IO_USART1_RX_SPECTRUM_DSM

IO USART 1 RX, DSM INPUT

GND

VDD_3V3_Spektrum

OUT

3.3 V

private Power Supply

HMI (Buzzer, USB, LEDs) | Port：USB

Pin #

Name

I/O

Voltage

Wire Colour

Description

V BUS

OUT

5 V

RED/GRAY

USB V BUS

OTG_DP1

IN/OUT

3.3 V

GREEN/BLACK

USB Data Positive (D+)

OTG_DM1

IN/OUT

3.3 V

RED/BLACK

USB Data Minus (D-)

GND

BLACK

GND

BUZZER_OUT

OUT

Battery Voltage

GRAY/BLACK

VBAT (8.4 - 42 V)

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