After working on ROVs and AUV for almost 3 months, and a getting components mixed up from time to time while assembly and disassembling it. I thought of creating an all in one system on chip flight-controller from scratch for all vehicles be it AUV, ROV or UAS. The brain of the controller is and ARM based microcontroller STM32H750VBT6 which controlling all the modules. using STM32 also lights the way of further development and addition to the bot in the field of acoustic signal processing.
A single voltage regulator TPS7A8500RGRT is being used to decrease the voltage from 5V to 3V3/4A and power all he components.
As for the peripherals we have 2 inertial measurement units BNO055 and MPU-9250, 2 stepper motor drivers using DRV8825, an SD card connected to store firmware, and data for later interpretations. An on board GPS GY-NEO6MV2 and an option to short it to connect an external GPS. We use PCA9625 and it a convenient way of generating 16 PWM channels from a single I2C circuit. We use an ESP32-S3-WROOM-1 to create an IOT of other components connected, we can also use the Bluetooth and the Wi-Fi of the ESP32 for various other tasks. The ESP32 communicates with STM32H7 over a UART connection.
Various pin out have have been given out from STM32 Like a connector for JTAG, CAN, PPM, TELEM, DAC, I2C, UART, SPI, POWER (with I2C for BMS connection), external GPS, all remaining 40 GPIOS from the STM32 for any other personal modification. Both ESP32 and STM32 can be separately programmed using their respective C-Type USBs.
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