Hardware Reference

[中文]

Supported Hardware

Supported Hardware List

Development Board	Main Components	Notes
ESP32-S2-Drone V1.2	ESP32-S2-WROVER + MPU6050	All in one
ESPlane-V2-S2	ESP32-S2-WROVER + MPU6050	Four feet should be installed
ESPlane-FC-V1	ESP32-WROOM-32D + MPU6050	A drone frame should be installed

Configure Target Hardware

• Code in esp_drone repository supports a wide variety of hardware, which can be changed through menuconfig.

  

• By default, when set set-target as esp32s2, target hardware will be changed to ESP32_S2_Drone_V1_2 automatically.

• By default, when set set-target as esp32, target hardware will be changed to ESPlane_FC_V1 automatically.

Notes

1. ESPlane-FC-V1 is an old version hardware.

2. To use ESP-Drone new version code on ESPlane-FC-V1, please connect GPIO14 of ESP32-WROOM-32D to INT pin of MPU6050 by a jumper.

3. To avoid flash voltage switching triggered by IO12 when ESPlane-FC-V1 is powered on, please fix the flash voltage to 3.3 V by running espefuse.py script

   espefuse.py --port /dev/ttyUSB0 set_flash_voltage 3.3V

   note * Only the first device attaching to the bus can use CS0 pin.

ESP32-S2-Drone V1.2

ESP32-S2-Drone V1.2 Overview

• Main Board Schematic：SCH_Mainboard_ESP32_S2_Drone_V1_2

• Main Board PCB：PCB_Mainboard_ESP32_S2_Drone_V1_2

Basic Component

Basic Component List

Component List for ESP32-S2-Drone V1.2

Basic Component List	Number	Notes
Main board	1	ESP32-S2-WROVER + MPU6050
716 motor	4	Optional: 720 motor
716 motor rubber ring	4
46mm propeller A	2	Optional: 55mm propeller
46mm propeller B	2
300mAh 1s LiPo battery	1	Optional: 350mAh
1s LiPo battery charging panel	1
8-pin 25 mm male pins	2

Note

Set motor type as brushed 720 motor through menuconfig->ESPDrone Config->motors config if you use 720 motor.

Main Controller

Chip	Module	Notes
ESP32-S2	ESP32-S2-WROVER	4 MB flash, 2 MB PSRAM in module

Sensor

Sensor	Interface	Notes
MPU6050	I2C0	Main board Sensor

LEDs

Status	LED	Action
POWER_ON	WHITE	Fully lit
SENSORS CALIBRATION	BLUE	Blinking slowly
SYSTEM READY	BLUE	Blinking
UDP_RX	GREEN	Blinking
LOW_POWER	RED	Fully lit

Buttons

Buttons	IO	Function
SW1	GPIO1	Boot, Normal
SW2	EN	Reset

Definition of Main Board IO

Pins	Function	Notes
GPIO11	I2C0_SDA	Only for MPU6050
GPIO10	I2C0_SCL	Only for MPU6050
GPIO37	SPI_MISO	MISO
GPIO35	SPI_MOSI	MOSI
GPIO36	SPI_CLK	SCLK
GPIO34	SPI_CS0	CS0*
GPIO40	I2C1_SDA	VL53L1X
GPIO41	I2C1_SCL	VL53L1X
GPIO12	interrupt	MPU6050 interrupt
GPIO39	BUZ_1	BUZZ+
GPIO38	BUZ_2	BUZZ-
GPIO8	LED_RED	LED_1
GPIO9	LED_GREEN	LED_2
GPIO7	LED_BLUE	LED_3
GPIO5	MOT_1
GPIO6	MOT_2
GPIO3	MOT_3
GPIO4	MOT_4
GPIO2	ADC_7_BAT	VBAT/2
GPIO1	EXT_IO1

Camera Interface

Pins	Function
GPIO13	CAM_VSYNC
GPIO14	CAM_HREF
GPIO15	CAM_Y9
GPIO16	CAM_XCLK
GPIO17	CAM_Y8
GPIO18	CAM_RESET
GPIO19	CAM_Y7
GPIO20	CAM_PCLK
GPIO21	CAM_Y6
GPIO33	CAM_Y2
GPIO45	CAM_Y4
GPIO46	CAM_Y3

Extension Components

Extension Board	Main Sensor	Function	Interfaces	Mount Location
Position-hold module	PMW3901 + VL53L1X	Indoor position-hold flight	SPI + I2C	Mount at bottom, facing to the ground.
Pressure module	MS5611 pressure module	Height-hold flight	I2C or MPU6050 slave	Mount at the top or at the bottom
Compass module	HMC5883 compass	Advanced flight mode, such as head-free mode	I2C or MPU6050 slave	Mount at the top or at the bottom

Definition of Extension Board IO

Left Pins	IO	Right pins	IO
SPI_CS0	GPIO34	VDD_33	IO
SPI_MOSI	GPIO35	I2C0_SDA	GPIO11
SPI_CLK	GPIO36	I2C0_SCL	GPIO10
SPI_MISO	GPIO37	GND
GND		AUX_SCL
I2C1_SDA	GPIO40	AUX_SDA
I2C1_SCL	GPIO41	BUZ_2	GPIO38
EXT_IO1	GPIO1	BUZ_1	GPIO39

ESPlane-V2-S2

ESPlane-V2-S2 Overview

• Main Board Schematic：SCH_ESPlane_V2_S2

• Main Board PCB：PCB_ESPlane_V2_S2

ESPlane-FC-V1

esplane_fc_v1

• Main Board Schematic：Schematic_ESPlane_FC_V1

• Main Board PCB：PCB_ESPlane_FC_V1

Basic Component

Basic Component List

Basic Component List	Number	Notes
Main board	1	ESP32-WROOM-32D + MPU6050
Drone frame	1
46 mm propeller A	2
46 mm propeller B	2
300 mAh 1s LiPo battery	1
1s LiPo battery charging panel	1

Sensor

Sensor	Interface	Notes
MPU6050	I2C0	Must

LEDs

#define LINK_LED         LED_BLUE
//#define CHG_LED        LED_RED
#define LOWBAT_LED       LED_RED
//#define LINK_DOWN_LED  LED_BLUE
#define SYS_LED          LED_GREEN
#define ERR_LED1         LED_RED
#define ERR_LED2         LED_RED

Status	LED	Action
SENSORS READY	BLUE	Fully lit
SYSTEM READY	BLUE	Fully lit
UDP_RX	GREEN	Blinking

Definition of Main Board IO

Pins	Function	Notes
GPIO21	SDA	I2C0 data
GPIO22	SCL	I2C0 clock
GPIO14	SRV_2	MPU6050 interrupt
GPIO16	RX2
GPIO17	TX2
GPIO27	SRV_3	BUZZ+
GPIO26	SRV_4	BUZZ-
GPIO23	LED_RED	LED_1
GPIO5	LED_GREEN	LED_2
GPIO18	LED_BLUE	LED_3
GPIO4	MOT_1
GPIO33	MOT_2
GPIO32	MOT_3
GPIO25	MOT_4
TXD0
RXD0
GPIO35	ADC_7_BAT	VBAT/2

Components of Extension Board

ESPlane + PMW3901 Pins Allocation

Pins	Function	Notes
GPIO21	SDA	I2C0 data
GPIO22	SCL	I2C0 clock
GPIO12	MISO/SRV_1	HSPI
GPIO13	MOSI	HSPI
GPIO14	SCLK/SRV_2	HSPI
GPIO15	CS0*	HSPI
GPIO16	RX2
GPIO17	TX2
GPIO19	interrupt	MPU6050 interrupt
GPIO27	SRV_3	BUZZ+
GPIO26	SRV_4	BUZZ-
GPIO23	LED_RED	LED_1
GPIO5	LED_GREEN	LED_2
GPIO18	LED_BLUE	LED_3
GPIO4	MOT_1
GPIO33	MOT_2
GPIO32	MOT_3
GPIO25	MOT_4
TXD0
RXD0
GPIO35	ADC_7_BAT	VBAT/2