Interface Specifications
This section covers the complete interface standard and the core mechanical, electrical, and external connection options of The Cube. Areas marked as LT (long term) need to be kept stable to isolate any autopilot revisions being made to the unmanned aerial vehicle (UAV).
Interface Standard
Connector Series
Low density: 0.1” over mould keyed servo connectors
Cabling: AWG24, ribbon or round, iconic color 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 (connector is not on The Cube, but on the carrier board).
The Cube
Mechanical: 30x30 mm M1.6 mounting hole pattern, 35x35 mm footprint.
80 position DF17 connector: Carries all autopilot interface connections.
No power management, which means power modules cannot be selected.
3.8 to 5.7V operation (absolute maximum ratings).
4.0 to 5.5V operation (compliant rating).
The Cube I/O
Connecting Interfaces:
Two I2C.
Two CAN: CAN1 and CAN2.
Four UART: TELEM1, TELEM2, GPS (I2C 1 embedded), SERIAL4(I2C 2 embedded).
One Console: CONSOLE (SERIAL5).
One HMI: USB extender.
Serial Ports Parameters
Port Interface and Pin Label
Main Power - | Connector: POWER1
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
IN
3.3 V
BLACK
Battery Current Connecter
4
BATT_VOLTAGE_SENS
IN
3.3 V
BLACK
Battery Voltage Connecter
5
GND
-
GND
BLACK
GND connection
6
GND
-
GND
BLACK
GND connection
Backup Power - | Connector: POWER2
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
IN
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 (one fitted as a standalone, one as an old internal) | Connector: I2C2
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
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
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
1
VCC_5V
IN
5 V
RED
Supply to GPS from AP
2
GPS_TX
IN
3.3 V - 5.0 V TTL
BLACK
TX of AP
3
GPS_RX
OUT
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
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
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
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
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
Analog | Port:ADC
ADC1
VDD_5V_Periph
OUT
2
Pressure sense in
IN
3
GND
-
GND connection
IO USART 1/DSM/Spektrum | Port:SPKT
SPKT1
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
USB1
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 (can be rearranged in accordance with PCB layout) | Port：RCIN MAIN OUT AUX OUT
RCIN MAIN OUT AUX OUTSERVO HEADER (0.1”, 1/1/15 power layout)
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)
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 the Colored Cubes
The Cube
Cube Orange+
Cube Orange
Cube Blue H7
Cube Purple H7
Cube Yellow
Cube Black+
Cube Black
Cube Green
Cube Blue
Cube Purple F4
Processor
STM32H757
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
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/5V software selectable
3.3V
3.3V
5.4v
3.3V
3.3V
Redundancy
Triple Redundancy
Triple Redundancy
Triple Redundancy
N/A
Triple Redundancy
Triple Redundancy
Triple Redundancy
Triple Redundancy
Triple Redundancy
N/A
Isolation System
Y
Y
Y
N
Y
Y
Y
Y
Y
N
Temp Regulator
Y
Y
Y
N
Y
Y
Y
Y
Y
N
Number of Accelerometers
Three
Three
3
1
3
3
3
3
3
1
Number of Gyroscopes
Three
Three
3
1
3
3
3
3
3
1
Number of Magnetometers
One
One
1
N/A
1
2
3
3
3
1
Number of Barometers
Two
Two
2
1
2
2
2
2
2
1
Manufacturing Origin
Taiwan
Taiwan
U.S.A
Taiwan
Taiwan
Taiwan
Taiwan
Taiwan
U.S.A
Taiwan
Product Lifecycle
Available
Available
Available
Available
Available
EOL
Use Cube Orange
EOL
Use Cube Orange
EOL
Use Cube Orange
EOL
Use Cube Blue H7
EOL
Use Cube Purple H7
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