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atbetaflight/docs/Board - CJMCU.md

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Board - CJMCU

The CJMCU is a tiny (80mm) board running a STM32F103, which contains a 3-Axis Compass (HMC5883L) and an Accelerometer/Gyro (MPU6050).

This board does not have an onboard USB-Serial converter, so an external adapter is needed.

Hardware revisions

Revision Notes
1 no boot jumper at the edge of the board.
2 identified by no boot jumper pads at the edge of the board.

Version 2 boards are supported from firmware v1.4.0 onwards, do NOT flash earlier versions to version 2 boards.

Pins

RX Connections

Pin Label Description
PA0 RC Channel 1
PA1 RC Channel 2
PA2 RC Channel 3 / USART2 TX
PA3 RC Channel 4 / USART2 RX
VCC Power +3.3v
GND Ground

Serial Connections

USART1 (along with power) is on the following pins.

Pin Label Description
TX1 UART1 TX
RX1 UART2 RX
GND Ground
3V3 Power +3.3v
5V Power +5v

USART2 is the following pins.

Pin Label Description
PA2 USART2 TX
PA3 USART2 RX

Power Connections

Pin Label Description
Power + Power - 1 Cell 3.7v Max
Power - Ground

Motor Connections

In standard QUADX configuration, the motors are mapped:

Cleanflight CJMCU
Motor 1 Motor3
Motor 2 Motor2
Motor 3 Motor4
Motor 4 Motor1

It is therefore simplest to wire the motors:

  • Motor 1 -> Clockwise
  • Motor 2 -> Anti-Clockwise
  • Motor 3 -> Clockwise
  • Motor 4 -> Anti-Clockwise

If you are using the Hubsan x4/Ladybird motors, clockwise are Blue (GND) / Red (VCC) wires, anticlockwise are Black (GND) / White (VCC). i.e. there is one wire on each motor out of the standard RED/BLACK VCC/GND polarity colors that can be used to identify polarity.

If you have wired as above, Motor1/Motor2 on the board will be forward.

Connecting a Serial-USB Adapter

You will need a USB -> Serial UART adapter. Connect:

Adapter CJMCU
Either 3.3v OR 5v The correct 3.3v OR 5v pin
RX TX
TX RX

When first connected this should power up the board, and will be in bootloader mode. If this does not happen, check the charge switch is set to POW. After the flashing process has been completed, this will allow access via the cleanflight configurator to change settings or flash a new firmware.

WARNING: If the motors are connected and the board boots into the bootloader, they will start to spin after around 20 seconds, it is recommended not to connect the motors until the board is flashed.

Flashing

To flash the board:

  • Open Cleanflight Configurator
  • Choose the latest CJMCU firmware from the list.
  • Select "Load Firmware [Online]" and wait for the firmware to download.
  • Tick "No Reboot Sequence" and "Full Chip Erase"
  • Connect the USB->Serial adapter to the board
  • Select the USB-UART adapter from the top left box
  • Click "Flash Firmware"
  • You should see "Programming: SUCCESSFUL" in the log box
  • Click "Connect" -> This should open the "Initial Setup" tab and you should see sensor data from the quad shown
  • Unplug the quad and solder across the 2 "BOOT0" pins - This prevents the board from going into bootloader mode on next boot, if anything goes wrong, simply unsolder these pins and the bootloader will start, allowing you to reflash. You cannot overwrite the bootloader.

Helpful Hints

  • If you are only using a 4 channel RX, in the auxiliary configuration tab, you can add a "Horizon" mode range around 1500 for one of the the AUX channels which will result in it being always on
  • Enabling the feature MOTOR_STOP helps with crashes so it doesn't try to keep spinning on its back
  • When the power runs low, the quad will start jumping around a bit, if the flight behaviour seems strange, check your batteries charge