PUBLIC

IAIN GALLOWAY, GERALD PEKLAR

PX4 DEVELOPER SUMMIT21, JUNE, 2019

COLLABORATIVE DESIGN OPPORTUNITIES WITH NXP REFERENCE HARDWARE

COMPANY PUBLIC 1

• Broad line of Semiconductors: − MCU, MPU, Security and NFC, Sensors, Analog, Power, RF power, Connectivity, ASICs

• #1 in Automotive Semiconductors, ADAS, “Functional Safety”

• Automotive, Medical, and Industrial – Robust and long life components

• Just announced acquisition Marvell BT and WiFi

PhilipsNXP

Motorola

Freescale‘New’ NXP

COMPANY PUBLIC 2

What are we doing? About the Drone Team• Small ad-hoc team within NXP• All enthusiasts, not tied to a BU

• Support Dronecode and PX4 open source initiative • Target on high reliability drones and rovers.• Not a drone manufacturer – only technology reference designs

• Can provide internal access to NXP for exploration. Normally only available for very large OEMs. (challenges remain)

COMPANY PUBLIC 3

Objective1. Show you some of the things

we’re working on,and other stuff interesting to PX4, Drones and Rovers.

2. Talk with us, we’re friendly and want to help where possible

PUBLIC 4

DLRCITY ATM PROJECT

FINDINGS

PUBLIC 5

What is the project about and participants

Safe integration of UAV‘s into airspace• Development of a traffic management system to integrate UAV‘s into urban airspace.• Connection with the different U-Space service levels.• Demonstration of the developed concept.

PUBLIC 6

1st Demonstration – Bridge inspection

• Bridge inspection use case.• Two of the three drones were using Pixhawk FMU‘s.• Flight path conflict scenario was part of the demo.

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1st Demonstration – NXP contribution

NXP contribution• Drone e-registration and e-identification using NFC tag (pilot license / insurance card)

and hardware secure element – A71CH HW root of TRUST. • Tracking and Telemetry data communication via 802.11p D2X.

PUBLIC 8

Finding – tracking

Design decision was made for a „one serves all“ message for tracking andcooperative awareness.MavLink UTM_GLOBAL_POSITION.https://mavlink.io/en/messages/common.html#UTM_GLOBAL_POSITION

• Redundancy needed towards ATC.

• Communication standard is needed.

• ATC needs to get information with a minimum of delay (250ms target).Feeding mavlink unfiltered via poor 4G network causes issues. Enable message filtering to reduce network traffic. #167

• 802.11p communication on 5,8GHz very reliable (up to 3km range).Evaluation of an Unique Communication Interface System D2X for UavsIntercommunicating with air and Ground UTM Users

PUBLIC 9

Finding – cooperative awareness

Design decision was made for a „one serves all“ message for tracking andcooperative awareness.MavLink UTM_GLOBAL_POSITION.https://mavlink.io/en/messages/common.html#UTM_GLOBAL_POSITION

• Communication standard is needed.

• Cooperative awareness informationneeds to be incorporated in mission / flight execution. Use UTM_GLOBAL_POSITION for collision avoidance #11262

PUBLIC 10

D2X REFERENCE DESIGN

PUBLIC 11

D2X communication - IEEE 802.11p

Potential is Attractive• 802.11p open mesh network with

ultra low latency on 5GHz• High data rate up to 27Mbit/s• High approaching speed

up to 500 km/h• Fast re-connection time• Successful test ~3km

distance @ 6kbit/s*• Dronecode connectors

https://nxp.gitbook.io/d2x/

*Evaluation of an Unique Communication Interface System D2X for UavsIntercommunicating with air and Ground UTM Users

PUBLIC 12

SECURE ELEMENT

PUBLIC 13

Secure element – A71CH• HW Root of TRUST – Security Supply Chain.• Authentication solution for Cloud Service Provider.• Credential - Key Management Services enable product.• Easy to integrate with different MCU and MPU platforms via I2C.• Encrypted/authenticated interface to host processor.• ECC-based authentication• TLS set-up (TLS-PKI, TLS-PSK) • Connectionless message authentication (HMAC) • Protected storage for product master secrets with key wrapping and key derivation functions,key locking mechanism.

• HVSON8 (4x4 mm) and WLCSP (2x2 mm) package

A71CH product page

A71CH is included in D2X development board, ESCS32K, RDDRONE-FMUK66 and UWB board.

PUBLIC 14

ESCS32K

PUBLIC 15

ESCS32K – drone ESC by Flyduino

• Up to 40V nominal input (limited by FSx500 spec).• Up to 40A continuous / ~60A max current drawing.• CAN-FD port. Using 4pin JST-GH connectors.

UAVCAN capable support.• Serial port for debugging.

Using 7pin NXP DCD-LZ JST-GH connector • Serial port pin for alternative signal input (SBUS, PWM, DSHOT,…)• Serial port pin for alternative telemetry output• Over-temperature / -current protection• HW secure element for authentication / secure boot /

secure FW update.• Possibility to run 3rd party SW.

PUBLIC 16

ESCS32K – block diagramNXP-Flyduino S32K Based Motor Controller Using Automotive Grade Components

A71CH Secure Element

S32K144MCU

Battery 8-40Vin

UAVCAN GD3000Gate Driver

FS4500Systems

Basis Chip

ESCKinetis V Series

ESCKinetis V SeriesNexperia

FET

ESCKinetis V Series

ESCKinetis V SeriesNexperia

FET

I2C

SPI+PWMPWM/DSHOT

CAN

5V

DroneCodeJST-GH connectors

PUBLIC 17

UWB

PUBLIC 18

UWB – Precision take-off and landing

UWB is a technology using RF signal time of flight information to precisely measure distance.

• Test results with current demo-boards• 103m distance antenna position independent.• 158m distance at ideal antenna orientation.• +/-5cm accuracy.

• Our own UWB board under development as reference design• Using PX4/Dronecode connector standards

• Message protocol agreement with PX4 dev team.• Planned availability of working drone UWB board by October 2019.

PUBLIC 19

UWB demoboard – block diagram

S32K144(100LQFP)

Ranger 4NCJ29D5

6-w

ire S

PI

PCB monopole antenna

GH connector: Telemetry

(UART)

GH connector: I²C

GH connector: CAN

GH connector: Debug 1

UART 1SWD A71CH

secure element

TJA1044GT/3 CAN

transceiver

CAN (RX,TX)

CAN

(_H,

_L)

I²C

I²CUAR

T 0

GH connector: Debug 2

GH connector: GPS

I²C

GH connector: Power

3.3 V

3.3 V

3.3 V

3.3 V3.3 V 5 V 5 V 5 V 5 V 5 V

BA033CC0FP

5 V 3.3 V

5 V 3.3 V

SWD

UAR

T 2

UART

USB connector: Power

5 V

Solder holes for display

5 V

I²C

PUBLIC 20

UAVCAN ADAPTERDEV BOARD

PUBLIC 21

UAVCAN adapter dev board

S32K144(64LQFP)

Solder pads UART

5V tolerant

Solder pads: I²C

GH connector: CAN1

GH connector: Debug 1

UART 1SWD A71CH

secure element

TJA1044GT/3 CAN

transceiver

CAN (RX,TX)

CAN

(_H,

_L)

I²C

I²CUAR

T 0

Solder padsSPI

GH connector: Power

3.3 V 3.3 V

3.3 V 5 V 5 V 5 V

5 V

BA033CC0FP

5 V 3.3 V

5 V 3.3 V

SPI

USB connector: Power

5 V

Solder holes for display

5 V

I²C

GH connector: CAN1

Small adapter board to connect various peripherals to CAN bus.

1x or 2x CAN?

PUBLIC 22

IAIN’S PART

COMPANY PUBLIC 23

Industrial-Grade UAV – Modular with CAN and Ethernet

FMU Flight Management

UnitKinetis K, V or L

WIFI/BT

NFC NCF3320 (522)

I2S

UARTSDIO/USB

2x CAN BUS (1 primary 1 aux)

MIPICSI

D2X (radio only)

BLE/Thread(KW41)

RADARS32R

IMU Sensors

PCIe

Lighting

ADS-B(Automatic Dependent

Surveillance –Broadcast(SDR chip)

Payload/manipulator/medical devices

Gimbal:ESC/encoder/sensors(Single chip with CAN)

Aux IMU

sensors

CAN

-FD

?

USB

CAN Digital SERV

O

GPS

Cellular Radio

SSD/M.2 HDD

Storage(Video)

Audio Codec

100BaseT1 2-Wire Automotive ABV

hub/Switch

POE/PODL LIDARSmart optical flow Camera?

Smart Ethernet Sensor/Camer

aSmart Ethernet Sensor/Camer

aCamera, SensorsSmart

Companion Computer, Data Analytics, Vision

S32V244 (A53), i.MX 6Q MPU (Cortex-A9)

Layerscape MPU (Cortex-A53/72)or

i.MX 8 series MPU (future)(ARM Cortex-A53 + A72)

Secure Element

Camera Sensor(s)

FPV Camera

Bolometer (NXP Fab)

USB- C RMII

MantraSub-GHz

Battery

Battery Authentication SecureIDPower Management

Wireless Charging SystemRX

Battery cell monitoring

Authentication

Authentication ESCKinetis V Series

ESCKinetis V Series

ESCKinetis V Series

ESCKinetis V Series

Authentication

RC Radio

GPS

D2X-IDU

FMU Flight Management Unit

Kinetis K, Vor i.MX RT

Secure Element

Ethernet

COMPANY PUBLIC 24

Hovergames Platform – Starting Point

NFC

FMU Flight Management

UnitKinetis K, V or L

UART

2x CAN (1 primary 1 aux)

D2X

BLE/Thread(KW41)

IMU Sensors

GPSESC

Kinetis V Series

ESCKinetis V Series

ESCKinetis V Series

ESCKinetis V Series

RC Radio

2wire Ethernet

CONFIDENTIAL AND PROPRIETARY25

Introducing the HoverGames DroneDevelopment Kit

Carbon Frame

RDDRONE-FMUK66 Flight Controller

Large platform

HolyBro Telemetry

OEM ESC(To be updated)

HoverGames DroneHolyBro GPS

Mounting rails

CONFIDENTIAL AND PROPRIETARY27

The KIT-HGDRONEK66 includes components for a base platform, including:

• HoverGames Flight Controller, which features: • 180 MHz NXP Kinetis Arm® Cortex®-M4 MCU • On board IMU (accelerometer, gyro, magnetometer) • Automotive CAN and 100Base T1 2-wire automotive

Ethernet interfaces• Standard PWM outputs, I2C, SPI, and UARTS• Complete carbon fiber quadcopter drone frame

HoverGames development platform

A telemetry radio comes separately which must match your region.

NOTE: The kit does not include a LiPo battery

Modular, open and extensible | PX4 flight stack

Brushless Motors

Communication

Flight Controller

Carbon frame

PropellerMotor Controllers

CONFIDENTIAL AND PROPRIETARY28

Additional Components

• Segger Jlink Mini EDU• FTDI serial cable • RC Remote RX/TX• Telemetry Radio• LiPo Battery Charger• Wrench and Hex Keys• Stickers

• FCC, CE, RoHS, REACH• Available direct and through distribution

2 Wire Ethernet

SBUS RC IN

I2C / NFC

GPS + Buzzer + LED

UART

Power 2x Can Bus

SPI

Telemetry

Debug

ADC 6

ADC 3

Ultrasonic

RDDRONE-FMUK66 Flight Management Unit

Realtime clockTJA11002-Wire Ethernet

Kinetis K66, ARM Cortex M4

BMM150Magnetometer

BMP280Barometer

A7102CHSecure Element

USB PUSB2X4DDebug ConsoleDUAL TJA1042

CAN Transceiver

MPL3115A2 Barometer

FXOS8701CQR1Accelerometer & Magnetometer

FXAS21002CQGyroscope

RC PWMNTB0104BQ-Q100

RDDRONE-FMUK66

NXP differentiation by forward looking emphasis on:• CAN-FD / UAVCAN

peripheral enablement

• 100BaseT1 IEEE1588 2-wire Ethernet

• Security and Authentication

TJA1100 2-Wire Ethernet

Kinetis K66, ARM Cortex M4

A7102CHSecure Element

DUAL TJA1042 CAN Transceiver

RDDRONE-FMUK66 Feedback requested

UAVCAN V1 requests CAN-FD

COMPANY PUBLIC 32

Plus sensors:BMM150BMP280

COMPANY PUBLIC 33

100BaseT1 “2 wire ethernet”

• Automotive Rugged, robust, high ESD• Lightweight connectors, wires, no magnetics• 15 meter distance• Automotive ethernet switch available• Still regular ethernet - media conversion by switch

or back to back PHYs• Attractive for high speed IP/Socket programming

(Faster 2.5 Gigabit in the future)

• Higher bandwidth cameras or sensors

• Standard IP connection between FMU and Companion computer

• Tethered operation

Interesting or not?

RDDRONE-IOTHoverGames enables mobile IoT

Integration with Rapid IOT Platform

• Onboard sensors• LCD/Buttons/battery• CAN/UAVCAN connectors

• Onboard Radio• Thread: IPV6, 6lowpan • BLE• 802.15.4 Use for future

UAVCAN?

• Pluggable “Click” modules• DCD debug interface• PX4 power module input

• MAVLINK example software

34

COMPANY PUBLIC 35

Drone FMUNXPhlite

(K66, Nuttx, PX4)

CAN

UART

RDDRONE-IOT Adapter

CAN

UART Rapid IOT

CLICK1

CLICK2

Connection Between Drone and Rapid IOTRDDRONE-IOT

UAVCAN

MAVLINK

VSCP Regulator

COMPANY PUBLIC 36

MikroElektronika EcosystemOver 450+ Click boards™ with mikroBUS™ connector and drivers

Gas Sensors, UV, IR, LORA, SigFox, Cellular, Lighting…

Hovergames Challenges

• Coding challenges with societal impact theme• Introduction to the PX4 opensource community• Grow the PX4 Community

• Learning opportunity with complete kit• Gitbook Documentation

• New technologies will be continually introduced and enabled

www.HoverGames.com

CONFIDENTIAL AND PROPRIETARY38

PixyCam2 Heat SensorRapid IoT +RDDrone-IOT adapter board

https://www.hackster.io/contests/hovergamesWhether man-made or natural, fires are difficult to predict and control. Fires cause billions in damage, destroy entire towns and forests and put countless lives in danger, including first responders at the front line.

HOVERGAMES IS YOUR OPPORTUNITY TO HELPThe objective of this contest is to build a solution that enables your HoverGames drone to assist fire fighters in their duties – in any way you can imagine, from wildfires to urban fires.

Hovergames Drone PX4 Summit Discount!Buy Direct on NXP.comDiscounted to $350 (shipping included worldwide*)

HoverGames Drone Development KitKIT-HGDRONEK66 (Coupon: KITPBL65)

915 Telemetry HGD-TELEM915 HGD-TELEM915 (Coupon: HGD40IJ2)

www.HoverGames.com

COMPANY PUBLIC 40

Smart BMS for Small Systems(Prototype Board)

COMPANY PUBLIC 41

Battery3-6s

BMSmodule

FMU module(Drone/Rover)

I2C/SBUS

5V3A

ESCs/Motors

12V, 75A

12V 75A

Temp

POWER IN

NFC/I2C I2C

BATT IN

T°CAN

CAN CAN

BATT INPower Module12V5V

NFC

BMSCT

Authen.

Sense

RDDRONE-BMS772 (Automotive) Battery Management for Small Systems

COMPANY PUBLIC 42

• Charger can be simple PS since balancing done at BMS level• Protection of the battery from overcharging is done at BMS level – need switch on the BMS

Battery3-6s

BMSmodule

12V 75A

BMS TempI2C

BATT IN

CT/T°

CAN

BATT IN

NFC

Charger

CHARGER

Authen.

RDDRONE-BMS772 (Automotive) Battery Management for Small Systems

COMPANY PUBLIC 43

I2C

GNDNTC

BMS Block Diagram

1mΩ0VPOWER IN

12-22V

0VCT1CT2CT3

BMS

0V

12-22V

BMS

SCLKMOSIMISOCSB

FAULTRESET

CAN_H

BCC6(MC33772B)

MCU(S32K118)

CAN_L

Temp(opt)

POWER IN POWER OUT

POWER OUT

CAN FD / UAVCAN

CT4CT5CT6

Power switch

Auth.

I2C

Shunt T°

SBC(TJA1042)

NFC

NPI A1007

NPI NTAG5

RDDRONE-BMS772 BMS Module

COMPANY PUBLIC 44

BMS AnalogMulticell battery pack

AutoMCU

SBC

NFC Secure Element

Current monitor

Power Switch

Power inputMC33772B S32K118TJA1042

A71CH/SE050NTAG+/NTAG5

RDDRONE-BMS772 BMS Module

COMPANY PUBLIC 45

RDDRONE-BMS772 (Automotive) Battery Management for Small Systems

• Low Cost ~$20• Up to 6S battery (25.2V)• 75A continuous 200A peak• Auto and consumer grade BOM• CAN-FD/UAVCAN V1.0• Secure authentication • Secure event count and flags• NFC for manifest log and settings• S32K MCU development • Dronecode Connector system• HoverGames DCD-LZ debugger

COMPANY PUBLIC 46

RDDRONE-BMS772 (Automotive) Battery Management for Small Systems

Software• NXP: Base BMS MC33772B library and functions• NXP: NFC base functions and app• NXP + Others: UAVCAN V1?

• HoverGames open source challenges using Dronecode/PX4• Goal: Development of an Opensource battery health

algorithm for all to benefit from

• Other areas for software development• Security, secure counting and event logging

• Undervoltage• Overtemperature

COMPANY PUBLIC 47

Hardware backed CAN security

COMPANY PUBLIC 48

NXP Secure CAN Transceiver TJA115x“Stinger” Intrusion Containment System

• Simple CAN transceiver replacement− No Software - purely hardware based solution.− Secure In-field reconfiguration possible

• Intrusion detection & prevention (IDS / IPS)− On-the-fly CAN ID filtering (TX) and bus-

guarding (RX) based on user configurable white & black list, preventing Spoofing & Tampering

− Support for Reporting & Logging

• Flooding prevention (DoS)− Threshold on message transmission: leaky

bucket strategy weighted on frame size

TJA115x CAN TransceiverCAN

TXD

RXD

Host Leaky Bucket

TXWhite List

RXBlack List

Message ID filtering

ID

ID

Guarantees legitimate senders without cryptography

Interesting or not?

COMPANY PUBLIC 49

MCU/MPU

PUBLIC 50

i.MX RT “Crossover Processor”

PUBLIC 51

S32K Automotive MCU

Future UAVCAN?

$1.48

PUBLIC 52

S32K Auto MCU

• Rugged, Auto Grade good for UAVCAN nodes

• Application specific PX4 or UAVCAN dev boards? M0 M4?• ESC uses S32K144 M4• BMS uses S32K118 M4 <$20

• Proposal - Consider bare bones S32K146/148?(M4) MCU on board with:• <$20 cost?• Dual CAN-FD PHY – is dual needed?

PUBLIC 53

High performance compute MPU

LayerScape (Digital Networking)1-8 Arm A53

2-16 Arm A73

i.MX 8M (4x A53) 4KHDR dec

Automotive S32V/GFunction SafetyVision/Gateway

i.MX 8M Mini (4x A53) 1080p60 enc

Google Coral Board with TPU

i.MX 8M Plus (NN accel)

i.MX 8QM “Quad Max”2x A72, 4xA53, 2xM4F, DSP, GPU

Automotive S32S4+4 Lockstep Arm R52

i.MX 8X ECC/Safety Certifiable 4xA53

ROS w/ vision

Neural Net / ML

INTERNAL/PROPRIETARY 54

RF power amplifiers for Aerospace• LDMOS technology with leading RF performance• Full line of solutions for 960-1215 MHz• Optimized for ADS-B and transponder operation• Contact Gavin.Smith@nxp.com or visit nxp.com/RF

Product Frequency(MHz)

Peak Power

(W)

Voltage (V)

Gain(dB min.)

Drain Efficiency

(%)

MMRF1018N 978 90 50 17 56

MRF6VP3091N 960-1215 90 50 17.3 53.5

AFIC10275N 978-1090 250 50 30.1 59.1

MMRF2011N 978 15 28 34 55

MMRF1018NMRF6V3091NAFIC10275NMMRF2011N

High Power RF Transistors for L-band Applications

NXP’s Future development with Opensource PX4Our engagement has been positive

We want to give back – where can we add value?

PUBLIC 56

We’re friendly

https://www.nxp.com/uavhttps://www.nxp.com/hovergamesdroneshttps://www.hovergames.com

Iain GallowayDrone program leadAustin, TX, USAiain.galloway@nxp.com

Gerald PeklarDrone project coordinatorHamburg, Germanygerald.peklar@nxp.com

NXP and the NXP logo are trademarks of NXP B.V. All other product or service names are the property of their respective owners. © 2019 NXP B.V.

COMPANY PUBLIC 59

Drone/Rover ESC NXP KV Design (Prototype Board)

COMPANY PUBLIC 60

NXPESC-UF1

Kinetis KV

KV31 (M4)KV42 (M4, CAN)

TJA10422xCAN

FAN7888 Gate Driver

FET:PSMN1R4-30YLD

30V, ABS MAX rating 166W, 100A

TTL UART + SWD

RC PWM IN

2x connector in parallel for “in/out”

6xPWM

StatusLEDs

Dronecode.org DCD debug port, modified to include RST “DCD-LZ”

FET:PSMN1R4-30YLDFET:PSMN1R4-30YLD

FET:PSMN1R4-30YLDFET:PSMN1R4-30YLD

FET:PSMN1R4-30YLD

Field current

amplifiersFAN4852

ADC

28V DC-DC

5V-3V Linear Reg

9-16.8Vin

Optional Hall sensor/ encoder inputs

Optional Temp input

COMPANY PUBLIC 61

NXPESC-UF1Kinetis KV11, KV31, KV42• Feedback from ESC!• DroneCode.org connectors• Field Oriented Control• KMS software

− Speed control (Propeller motor)− Position control (Servo)− Torque control (Winch)

• UAVCAN support• Traditional PWM• Scalable to higher power• Based on KV Freedom board