Wiring the Unit
This document will provide an overview on how nanoDRIVE 4LPi units should be wired and includes pinouts for the unit.
To ensure the nanoDRIVE 4LPi is not damaged during integration, we recommend any soldering carried out on the unit to be performed by trained or experienced individuals.
Pinout
Port Number | Description |
|---|---|
1 | Positive Battery Terminal |
2 | Negative Battery Terminal |
3 | Control Signal - DShot / PWM Connector: JST GH 6 pin |
4 | Power and Bus Voltage/Current - Flight Computer Connector: Hirose DF13-6. Shared with (12, 13, 14) |
5 | Motor 4 Phases |
6 | Motor 1 Phases |
7 | Motor 3 Phases |
8 | Motor 2 Phases |
9 | Control Signal - CAN with Passthrough |
10 | Motor 1 Temperature Sensor |
11 | Motor 4 Temperature Sensor |
12 | Battery Current Analogue Monitoring (0-3.3V) |
13 | Battery Voltage Analogue Monitoring (0-3.3V) |
14 | Power 5.4V 2.5A, Shared with (4) |
15 | Control Signal - DShot / PWM |
16 | Drive Disable (Active High, pull to ground to enable drive with the secondary arming switch) |
17 | Control Signal - CAN |
18 | Motor 2 Temperature Sensor |
19 | Motor 3 Temperature Sensor |
DShot / PWM Control Signal Connector
This connector pins are shared with the pads labelled “T”, “4”, “3”, “2”, “1”.
Connector used: JST BM06B-GHS-TBT(LF)(SN)
Mates with: JST GHR-06V-S
- DShot / PWM ESC 4
- DShot / PWM ESC 3
- DShot / PWM ESC 1
- DShot / PWM ESC 2
- Telemetry
- Ground
5.4V, 2.5A Power Output and Monitoring Connector
This connector pins are shared with the pads labelled “5V”, “I”, “V”
Connector used: Hirose DF13C-6P-1.25V(50)
Mates with: Hirose DF13-6S-1.25C Housing
- 5.4V Output
- 5.4V Output
- Analogue Battery Current Monitoring
- Analogue Battery Voltage Monitoring
- Ground
- Ground
CAN Bus Connector
This connector pins are shared with the pads labelled “H”, “L”.
Connector used: JST BM04B-GHS-TBT
Mates with: JST GHR-04V-S
- No Connect (Passthrough)
- CAN High
- CAN Low
- CAN Ground
Port and Pin Tolerances
The nanoDRIVE 4LPi may be damaged if the voltages tabulated below are exceeded.
PORT/PIN | MAX. CURRENT (mA) | ABS. MAX. VOLTAGE (V) | ABS. MIN. VOLTAGE (V) | PASSIVE LOADING |
|---|---|---|---|---|
MAIN BUS (V_BUS₎) | — | 35 | -0.4 | — |
MOTOR PHASES | — | V_BUS + 0.6 | -0.4 | — |
GND | 200 | GND | GND | Direct connection to GND |
CAN_H, CAN_L | 115, Differential Mode | GND + 12 | GND - 12 | Solderable 120 Ohm termination |
CAN_DIS | 1 | GND + 3.6 | GND - 0.3 | Open drain input. Pulled to 3.3 V via 10 kOhm resistor. |
MOTOR SENSING | 1 | GND + 3.6 | -0.3 | Open drain input. Pulled to 3.3 V via 10 kOhm resistor. |
SIG 1-4 | 10 | GND + 5.5 | GND - 0.3 | Driven to 3.3 V during bidirectional DShot with 100 Ohm impedance. |
GND | 200 | GND | GND | Direct connection to GND |
TLM | 10 | GND + 5.5 | GND - 0.3 | Open drain output. Pulled to 3.3 V via 10 kOhm resistor. |
GND | 200 | GND | GND | Direct connection to GND |
V_IN | 1 | GND + 3.3 | GND - 0.3 | 10 kOhm output impedance, 11:1 |
I_IN | 1 | GND + 3.3 | GND - 0.3 | 2.7 kOhm output impedance, 200:1 |
Wiring Diagram
It is imperative that the wiring to the battery is kept as short as possible. We recommend that 12-14 AWG wire is used and the length is no longer than 1m.
nanoDRIVE 4LPi - CAN Wiring
There are two primary methods of wiring CAN nodes, either as a bus or as a star network (stubs). If stubs are used, keeping the stub length below 1m is important (the DroneCAN specification recommends a maximum of 0.3 m [11.8 in]).
Both the castellated pads labelled “D”, “H”, “L” and “G”, and the two CAN connectors can be used for CAN connection. Use twisted pair wire with 120 ohm impedance.
The nanoDRIVE 4LPi has a built-in, optional CAN termination. This can be enabled by bridging these two terminals together with a bead of solder, or with a 0603 resistor.
nanoDRIVE 4LPi - DShot
Pins “1”, “2”, “3”, “4” corresponds to the DSHOT input of each respective ESC and should be connected to the flight computer. The “T” pin outputs telemetry.
Battery Current Monitoring
The “I” terminal provides a means of monitoring the battery current. This output provides an analogue output between 0V and 3.3V. When the nanoDRIVE 4LPi draws zero current, this output will be at 1.65V. A voltage higher than 1.65V indicates current flowing into the nanoDRIVE while a voltage less than 1.65V means current flowing out of the nanoDRIVE.
The voltage at the “I” terminal is related to the battery current with the formula below:
1.65 + 0.005 * I_BUS = V{I_mon}
Where
I_BUS is the bus current. A positive I_BUS indicates the connected motors drawing current. A negative I_BUS indicates the motors are regenerating into the battery terminal.
V{I_mon} is the measured voltage between the “I” and “G” terminals.
Battery Voltage Monitoring
The “V” terminal is used for analogue monitoring of battery voltage. The relationship between the voltage between the “V” and “G” terminals is shown below:
V_BUS / 11 = V{V_mon}
Where
V_BUS is the bus voltage
V{V_mon} is the voltage between the “V” and “G” terminals.
Motor Temperature Sensor
Solder the motor temperature sensor of NTC/PT100/PT1000 type between the “M” and the “G” terminal next to it. Refer to the link below for instructions on how to configure the temperature sensor in firmware.
5.4V Supply to Peripherals
See below for instructions.
Secondary Arming Switch
Connect a switch or push-pull GPIO output to the "D" pad. When the "D" pad is not connected or is pulled to ground then the arming switch is disarmed. When the "D" pad is pushed to 3.3V the arming switch is armed. This functionality requires the secondary arming switch to be enabled.