Project Title: The Ad-Flier! Team Name: Sky LightsAcunto_Greene.pdfProject Title: The Ad-Flier! Team...

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EEL 4924 Electrical Engineering Design

(Senior Design)

Final Report

25 April 2012

Project Title:

The Ad-Flier!

Team Name:

Sky Lights

Team Members:

Name: David J. Greene Name: Sal D'Acunto

Email: [email protected] Email: [email protected]

mailto:[email protected]






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PROJECT ABSTRACT:

What are the three most important things to remember in advertising? Location, location, location! The Ad-Flier

is a solution to two of the greatest problems currently faced in the college of engineering: first, the publication

of more Go Gators banners and advertisements; second, an easier solution to the take-off and landing of

autonomous unmanned aerial vehicles.

Team Sky Lights has found the opportunity to take out two UM Ibis’ with one stone, by developing an easier

solution for a control system on a standard Quadrocopter frame and removing all the nags of common air flight,

our system will allow the most novice of fliers the ability to enter a coordinate path (created using Google Maps)

and takeoff! It does this by separating the flight functions into two separate chips, one processor devoted to

stabilization of the craft and controlling the motors, and the second devoted to attaining coordinates and

calculating the alterations of the current path. This separation will allow the stabilizer to react more quickly to

changes in the environment while still ensuring it is following a stated course. The navigation unit will contain

on-board memory to store its course and (time permitting) also contain a communications system to provide 2-

way transmissions for course alteration and telemetry.

So what does this all mean to the average Joe? While our football team is drowning out the Crimson

Tide in Alabama, we can have our Ad-Fliers circling the stadium with Go Gators! and Enjoy Pepsi! logos attached,

cheering our team and fans on to victory!

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TABLE OF CONTENTS Project Abstract: .......................................................................................................................................................................... 2

Table of Contents ......................................................................................................................................................................... 3

Product Features/Objectives ....................................................................................................................................................... 5

Hardware Overview ..................................................................................................................................................................... 5

Mechanical Overview .............................................................................................................................................................. 5

Frame .................................................................................................................................................................................. 5

Motors................................................................................................................................................................................. 5

ESC....................................................................................................................................................................................... 5

Flight Control Board Overview ................................................................................................................................................ 6

Core Components ............................................................................................................................................................... 6

Position Sensors .................................................................................................................................................................. 6

Communication System ...................................................................................................................................................... 7

On-Board Storage ................................................................................................................................................................ 7

Camera Board Overview .......................................................................................................................................................... 8

0.3MP On-Board Camera .................................................................................................................................................... 8

Long-Range Ultrasonic Ranger ............................................................................................................................................ 8

................................................................................................................................................................................................. 8

Base Station Overview ............................................................................................................................................................. 9

Core Components ............................................................................................................................................................... 9

Communication System ...................................................................................................................................................... 9

Relative Sensors .................................................................................................................................................................. 9

On-Board Storage .............................................................................................................................................................. 10

Software Overview .................................................................................................................................................................... 10

The Proportional Integral Derivative Controller .................................................................................................................... 10

Pulse Width Modulator Control System ................................................................................................................................ 11

FPGA-Microprocessor Interface ............................................................................................................................................ 12

Overview ........................................................................................................................................................................... 12

Tested Data Rates ............................................................................................................................................................. 12

Sensors .................................................................................................................................................................................. 12

Gyroscope ......................................................................................................................................................................... 12

Accelerometer ................................................................................................................................................................... 12

Magnetometer .................................................................................................................................................................. 12

Barometer ......................................................................................................................................................................... 12

Bill of Materials .......................................................................................................................................................................... 12

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Division of Labor ........................................................................................................................................................................ 14

Gantt Chart ................................................................................................................................................................................ 14

Appendix .................................................................................................................................................................................... 15

Appendix A – Overview of the Flight Control Board ............................................................................................................. 15

Appendix B – Overview of the Base Station Board ............................................................................................................... 17

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PRODUCT FEATURES/OBJECTIVES During specification, a series of requirements were placed to ensure adequate and safe operation of the craft.

1. A Manual Switch & Emergency Software Shutdown

a. The manual switch serves to ensure the craft will never engage when it is undesired. The manual

switch is placed in-series between the battery and the main power junction to the Electronic-

Speed-Controllers and the Fight Control Board

b. The Emergency Software Shutdown is a combination of two triggers: one if the device went

outside of radio communications range, and second a direct shutdown command that could be

activated if the device engaged in unwanted behavior.

2. Hover / Hold-Position

At a minimum, the device is required to engage in a mode where upon power-up, it will lift-off

approximately one foot and hold its position in air. This requirement would prove the

functionality of the stability controls implemented on the Flight Control Board.

3. Positional Sensing

By combining an 3-Axis accelerometer, gyroscope, and magnetometer, the Ad-Flier obtains a

highly accurate and reliable vector of its current orientation in space. Coupled with a barometer

to act as an altimeter, the device possesses all of the sensory inputs required to self-sustain itself

in air while supplied with power.

HARDWARE OVERVIEW

MECHANICAL OVERVIEW

FRAME X 525 Quadcopter frame was chosen to be the frame for the Quadcopter. The frame was made with a

fiberglass base and aluminum rods to support the plus configuration. The ends of the rods are attached

to mounts supported by springs that allow for softer landings. The fiberglass and hollow aluminum tubes

all the craft to be made lighter so smaller motors and a smaller battery can be used.

MOTORS Four XXD 2212 KV1000 brushless motors were used. These motors take an 11.1 V power supply from the

battery as well as the input signal from the ESC. The maximum efficiency of the motors was rated at 75%.

They also have a no load speed of 10800 rpm and a load speed of 5880 rpm. Each motor weighs

approximately 218g.

ESC In order to control the motors, HobbyWing Skywalker 20A 2A-BEC Brushless ESCs were used. An ESC is an

electronic servo controller. The ESC uses a 50 Hz PWM signal with a 1 to 2ms-pulse width to control the

motor between 0 and 100% output. The ESC’s had to be programmed using a programming card. This

allowed control over the timing mode, the startup mode, and the cut off voltage. The cut off voltage was

the most important parameter. If the battery reaches a certain low on the voltage the ESCs reduce the

speed of the motor slowly so the battery does not drain below a dangerous level and so the Quadcopter

doesn’t instantly shut off and crash.

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FLIGHT CONTROL BOARD OVERVIEW

CORE COMPONENTS 1. PIC32MX795F512L 32-Bit Microcontroller

This device serves as the central math processing unit and communication hub of the craft. It

interfaces all of the long and short range communication systems, GPS sensors, and on-

board digital storage devices to the FPGA.

2. EP2C8T144C8N Cyclone II FPGA by Altera

This device served by providing the logic functions necessary for implementing the PID

controller and other stability control systems. It directly interfaced with the Electronic-

Speed-Controllers for the motors to regulate speed.

POSITION SENSORS 1. Accelerometer – This sensor gives us the approximate angle the device is relative to a point of gravity.

This position can change due to acceleration and would thus need another array of devices to

guarantee its position.

2. Gyroscope – This sensor delivers the approximate rotation of the craft in degrees per second. This

measurement is taken every 1/100th

of a second and reported to the stability control on the craft.

Since this sensor only gives you a rate of change measurement, it is coupled with the outputs of the

accelerometer and the magnetometer to provide a highly-accurate positional vector.

3. Magnetometer – Focusing in on the magnetic poles of the earth, this sensor acts as a digital compass,

delivering us a reading in Gauss of the largest magnetic field in the area. Since the motors often

would cause interruptions and disturbances with this sensor, the sensitivity was carefully calibrated

to average out the noise of the motors and still provide an accurate heading.

4. Barometer – This sensor provides the Flight Control Board with the relative pressure of its current

location. This value is incredibly useful in calculating height at large intervals and was thus used as an

altimeter when the ultrasonic sensors went out of range.

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5. Humidity Sensor – The humidity sensor is a safety feature that will detect when the air surrounding

the device becomes too rich with moisture to ensure safe operations of the craft. Specific concerns

were related to moisture damaging operating circuits.

COMMUNICATION SYSTEM 1. The Flight Control Board is equipped with two means of communicating with the outside world. First,

a Full-Speed USB port is provided to interface with the PIC Microcontrollers as a virtual serial port.

This makes downloading information from the SD-Card or on-board Flash SRAM a snap.

2. The second, and main communication system, is the long-range XBee S1 Pro communication system.

This device is capable of transmitting and receiving data at 57.6Kbps at incredible ranges. The XBee’s

receiving module is connected to the Base Station, which will be later discussed.

ON-BOARD STORAGE 1. The primary storage medium is the MicroSD card slot connected to the PIC32 Microcontroller. It is

responsible for recording flight logs, sensor data, and to store photos from the camera board.

2. The Flight Control Board is also equipped with two 128MB Serial Flash SRAM chips; one connected to

the FPGA and the other connected to the PIC32. Each is capable at operating at speeds up to

104Mbps which was well within the operating clock speeds of both devices. The FLASH SRAM

modules were implemented to serve as short-term storage for data intensive mathematical processes

for the FPGA or PIC.

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CAMERA BOARD OVERVIEW

0.3MP ON-BOARD CAMERA The bottom camera is capable of capturing images at up to 640x480 pixel resolution and outputs

them in RGB format across a 50MHz databus. This is picked-up by the FPGA, processed, and

stored as an image on the MicroSD card. The camera module serves as a future implementation

of an automatic-landing mechanism, where an image will be taken and using image processing

techniques, the FPGA will attempt to locate and align with a target.

LONG-RANGE ULTRASONIC RANGER The Ad-Flier is equipped with two Ultrasonic rangefinders mounted on the top and bottom of the

craft. Each has an operational range of up to 150cm (59.055 ft.) and a measuring angle of 30.

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BASE STATION OVERVIEW

CORE COMPONENTS PIC32MX795F512L 32-Bit Microcontroller

This device serves as a hub for all ground-to-air communications. It fans-out the data stream

coming from the Ad-Flier into several useable mediums and ensuring that the device is

behaving safely. Should the device act out of accordance with its programming, the base

station will have the ability to remotely terminate operations of the craft and either force an

immediate shutdown, or allow the craft to hover down to the ground.

COMMUNICATION SYSTEM 1. USB Full-Speed Virtual Serial Port – This allows for quick transfers of information form the PIC to a

connected PC. This also allows a future implementation of programming the PIC Microcontroller

directly from the USB port instead of requiring an additional programmer.

2. XBee Long-Range S1 Wireless Module – This device allowed incredibly long-range communications

with the Ad-Flier while in flight. Operating distance is reduced greatly when the craft is not in line-of-

sight.

3. Bluetooth Serial Interface – This module specifically serves the role of debug output and operational

commands to the craft from a connected PC. It is also designed to interface with the GUI Console to

display the Ad-Flier’s current position, heading, and other system information.

4. PlayStation II Wireless Remote Control – This module gives the user manual control of the craft and

allows them to enjoy the full limits of what it is capable of.

RELATIVE SENSORS

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1. Barometer – The relative barometric pressure sensor is used to obtain the relatve pressure of ground.

This is used in the Ad-Flier’s height calculations as a basis. The barometer also features a built-in

thermometer.

2. Global Positioning System – The Base Station features a Trimble GPS system which provides it with its

current location. This allows the Ad-Flier to have an approximate location of where HOME is located

and where it should return when the battery voltage drops below the desired threshold.

ON-BOARD STORAGE 1. The primary storage medium is the MicroSD card slot connected to the PIC32 Microcontroller. It hold

flight logs, error reports, and other sensor data logs.

SOFTWARE OVERVIEW

THE PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLER

In order to implement stabilization of the Quadcopter, several PID controllers were used. A PID controller, short

for proportional, integral, derivative, is a useful control loop feedback mechanism. The controller works by first

calculating an error. The error is the difference of the desired process variable and the measured process variable.

In our case, there were three PID controllers used to control the angles of the axes, pitch, roll, and yaw. There was

also one controller used to control altitude.

Pitch is the orientation for the machine with respect to the nose of the quad. A positive pitch degree indicates that

the nose is pointed up and the device will fly backwards. A negative pitch angle indicates that the noise is pointed

down and that the quad will fly forward. In our machine, positive pitch was a counterclockwise rotation in the

positive y-axis. Stabilization of pitch was controlled by offsets to the front and rear motors.

Roll is the orientation of the machine with respect to the wings. A positive roll degree indicates that the right wing

is higher and the quad will fly to the left. A negative roll angle indicates that the left wing is higher and the

machine will drift to the right. In our machine, positive pitch indicates a counterclockwise rotation in the positive

x-axis. Stabilization of pitch was controlled by offsets to the left and right motors.

Yaw is the orientation of the machine perpendicular to pitch and roll. In our machine this would be the z-axis. A

positive yaw rotation would be a clockwise rotation about the positive z-axis, where the positive z-axis is the axis

extending out of the top of the quad. Stabilization of yaw is controlled by increasing torque of either the front and

back motor or the left and right motor with respect to the other pair of motors. This stabilization is possible in the

quad because each pair of motors has either clockwise rotating props or counterclockwise rotating props. Each

pair tends to make the craft rotate in a different direction.

The altitude was how high off the ground the quad was. Adding or subtracting the same amount of torque to each

motor achieved stabilization of the altitude.

The inputs of the PID controllers were either angles or altitude and the outputs were all an 8 bit vector used in

conjunction with the PWM module to change the speed of the motors. A typical block diagram of a PID controller,

obtained from Wikipedia, can be seen in the figure below.

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Block Diagram of a PID controller

In order to create the PID controller in VHDL the equations had to be discretized. The equation of the discreet PID

controller is given as

This is known as the velocity form of the PID equation. The terms with K and T were replaced with KP, KI, and KD.

These are all constants that are separate for each separate controller. The constants are determined by tuning. In

the process of tuning, KI, and KD are set equal to zero while KP is increased until oscillation in the desired

controller output is achieved. Then KD is increased until the oscillations subside. Finally KI is increased until the

steady state time is achieved in an acceptable time.

Tuning the PID controller proved to be a daunting task. First, implementing the equations in VHDL had to be done

with integer math. This required a lot of changing of variables. Determining the limits for the PID controller was

also challenging. For the limits, it was determined that a 30-degree error in either direction would cause the

motor for the drooping side to operate at 80%. This greatly increases the speed before the quad flips over and

becomes uncontrollable. Also, while tuning for pitch and roll takes place separately, when combined the angles of

pitch and roll actually effect each other. This adds another level of complexity to the tuning process and makes

the results less desirable. Scaling down the integer values used in the PID in order to achieve an 8 bit values that

was actually proportional to the desired output was also a challenging task.

The PID controllers used can be seen in the code attachment.

PULSE WIDTH MODULATOR CONTROL SYSTEM

The PWM component was also composed in VHDL for use on the FPGA. The purpose of the PWM module was to

convert the output from the PID controllers to a useful signal that was capable of controlling the motors. As

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mention above, the motors are driven by an ESC. The ESC takes an input PWM signal to control the motor. This

signal is composed of a 50 Hz frequency signal with varying pulse with for the duty cycle. The pulse width for the

ESC input ranges from 1ms to 2ms. A 1ms pulse indicates 0% of the motor power. A 2ms pulse indicates 100% of

the motor power.

The first step in the code was to create a 50 Hz signal from the 25.175 Mhz clock on the FPGA. Using a clock

divider did this. The next step was to make an input to the module create different pulse widths for the output.

The resolution of the PWM controller was 8 bits for a 1ms swing in output. This is .04% change in motor speed for

each count in the input vector.

The only problem with the control of the motors is that all motors are not created the same. Each motor required

a different offset value before it would actually turn on. This offset was accounted for by using the rangefinder to

make sure that each motor initialized for the same input value plus offset to the PWM unit.

FPGA-MICROPROCESSOR INTERFACE

OVERVIEW To allow communications between the PIC and FPGA, and allow the passing of nessecary data, a simple 8-

bit parallel port communications system was constructed between the two devices. Using a handshake

method, the PIC Microcontroller is able to either read a specified list of registers on the FPGA or write to a

list of specified registers on the FPGA.

TESTED DATA RATES

When a continuous read/write test was performed, the PIC was able to transfer at a rate of 2.66Mbps

SENSORS

GYROSCOPE The L3G4200D Gyroscope transfers 16-bit values across the SPI bus in 8-bit increments. It can achieve a

maximum rate of 10MHz when in SPI Mode.

ACCELEROMETER

MAGNETOMETER The HMC5883L Magnetometer communicates using the I2C line with rates up to 400KHz. The data is

stored as 12-Bit ADC readings and need proper conversion back to Gauss before they can be used.

BAROMETER The MPL115A1 Barometer communicates using the SPI bus at a max rate of 8 MHz Several iterations of

conversions are needed before the data outputted is usable. The pressure readings are also significantly

affected by the relative temperature and operating conditions.

BILL OF MATERIALS

Part Manufacturer Description

EP2C8T144C8N Altera Cyclone II FPGA

TCM8230MD Toshiba 640x480 Camera Module

TCM8230MD Toshiba 640x480 Camera Module

EP2C8T144C8N Altera Cyclone II FPGA

XBEE Pro S1 Digi International Long-Range Wireless

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PIC32MX795F512L Microchip 32bit PIC Processor

Copernicus Trimble GPS Module

EPCS16SI8N Altera 16MB FPGA Configuration SRAM

SD Card EgoChina SD Card

RF-2400W Inhaos Short Range Wireless

S25FL128P Spansion 128MB 104MHz Flash Memory

HMC5883L Honeywell Magnetometer

RHT03 Maxdetect Humidity Sensor

SST26VF032 Silicon Storage Technologies 32MB Serial Quad I/O Flash

MCP2200 Microchip USB -> USART

HC-06 Itead Studio SMD Bluetooth Module

MMA8452Q Freescale Semiconductors Accelerometer

L3G4200D STMicroelectronics Gyroscope

MPL115A1 Freescale Semiconductors Pressure Sensor

DS1085 Maxim Semiconductors Programmable Clock Synthesizer

HC-SR04 Itead Studio Ultrasonic Ranger

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DIVISION OF LABOR

GANTT CHART

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APPENDIX

APPENDIX A – OVERVIEW OF THE FLIGHT CONTROL BOARD

Temperature/HumidityMaxDetect RHT03

Long-Range CommXbee Pro S1

StabilizerCyclone II FPGAEP2C8T144C8N

NavigatorMicrochip PIC32

PIC32MX795F512L

USB

ICSP

SPI Bus

Parallel

UART Line

MicroSD CardTransFlash 2GB

Serial 128MB SRAMSpansion S25FL128P

3-Axis MagnetometerHoneywell HMC5883L

Barometric SensorFreescale MPL115A1

3-Axis AccelerometerFreescale MMA8452Q

3-Axis GyroscopeST L3G4200D

FPGA Clock SynthesizerDallas DS1085Z

UART Line

UART Line

SPI Bus

I2C Bus

1-Wire Bus

UART_1

UART_2

UART_5

SPI_1

I2C_1

1-Wire

USB

PROG

SPI_2

Parallel (8-Bit)

GPS Trimble 58048

B-NMEA

A-TSIP

Ad-Flier – Flight Control Board

Connections Overview

Rev 1.2 – 3/28/2012

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Power Requirements

USART

SPI

I2C

I2CSPI

SPI

USART

SPI ISP

I2C

I2C / SPI

Parallel

PWM

PWM

PWM

PWM

StabilizerAltera Cyclone IIEP2C8T144C8N



3-Axis MagnetometerHoneywell HMC5883L

Motor Controller 4

Motor Controller 3

3-Axis GyroscopeST Micro L3G4200D

3-Axis AccelerometerFreescale MMA8452

Ultrasonic RangefinderiTead Studio HC-SR04

Temperature/HumidityMaxDetect RHT03

GPS NavigationTrimble 58048-20

Flight/Landing CameraToshiba SEN-08667

Motor Controller 2

Motor Controller 1

FPGA ConfigEPCS4SI8N 16MB

Par

alle

l I/O

Bu

s


PIC32MX795F512L


Programmable Clock Synthesizer DS1085

+2.8 / +1.5 V

+3.3 / +1.2 VDC

+5.0 VDC

+3.3 VDC

The Ad-Flier!Team Sky Lights

- - -Flight Control Board

Serial SRAMSpansion 128MB Flash

Serial SRAMSST 32MB

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APPENDIX B – OVERVIEW OF THE BASE STATION BOARD



PIC32MX795F512L

USB

ICSP

UART Line


UART Line

SPI Bus

SPI Bus

UART_1

UART_2

UART_5

SPI_1

SPI_2

USB

PROG GPS Trimble 37824

B-NMEA

A-TSIP

Ad-Flier – BaseStation Board

Connections Overview

Rev 1.2 – 3/28/2012

Serial BluetoothBT03 SMD Module

PS2 ControllerStandard Wireless Remote

JumperSelect


UART Line

18

Parallel

Wireless Manual Control

USART

SPISPI

SPI

USART


Serial SRAMSST 32MB

Barometric & Temperature SensorFreescale MPL115A1

GPS NavigationTrimble 58048-20


Bluetooth SerialSerial Bluetooth Module

USART USART

Base StationMicrochip PIC32

PIC32MX460F512L

User’s Computer

High Speed USB SerialMicrochip

Power Requirements

+5.0 VDC

+3.3 VDC

The Ad-Flier!Team Sky Lights

- - - Base Station Board

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D D

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MIC5330-MFYML

VIN

GND

BYP

EN2EN1

VOUT2

VOUT1 +2.8V

+1.5V

REG1

MIC5330-MFYML

VIN

GN

D

VOUT

MIC29300-5.0WU+5.0V

REG2

MIC49300-1.2WU+1.2V

EN

VBIAS

GN

D

VIN VOUT

REG3

0.1uFC43

0.1uFC38

0.1uFC40

GND

GND

GND

GND

SYS

SYS +5.0V +2.8V

+1.5V

+1.2V

+5.0V

+5.0V

VIN

GN

D

VOUT

MIC29300-3.3WU+3.3V

REG4

0.1uFC49

GND

SYS +3.3V

+6

to

+1

1.7

VD

C

+5.0 VDC

5.0 -> 2.8 & 1.5 VDC

5.0 -> 1.2 VDC

Battery -> 3.3 VDC

Battery -> 5.0 VDC

3S Lipo Battery

+5.0V Rated: 3000mA +3.3V Rated: 3000mA +2.8V Rated: 150mA +1.5V Rated: 150mA +1.2V Rated: 3000mA

Power Rails:

1.0uFC36

10uFC37

SYS

1.3KR20

3.9K

R19

D21SMAS913BT3G

D1

MBRS540T3G

D3

MBRS540T3G

GND

GND

GND

SysPowMonitor

Power Input, Selection, and Monitoring

+3.3V

1K

R21

GND

1

1.0uFC39

1.0uFC42

1.0uFC44

1.0uF

C45

1.0uFC48

10uFC41

10uFC46

10uFC47

VDDGND

Header9

Battery Conn

LED3

VCCGND

H1

DC Jack

PIC3601

PIC3602COC36 PIC3701

PIC3702COC37

PIC3801

PIC3802COC38

PIC3901

PIC3902COC39

PIC4001

PIC4002COC40PIC4101


PIC4202COC42PIC4301

PIC4302COC43

PIC4401

PIC4402COC44

PIC4501PIC4502

COC45

PIC4601

PIC4602COC46

PIC4701


PIC4802COC48

PIC4901

PIC4902COC49

PID100PID101

COD1

PID200PID201 COD2

PID300PID301

COD3

PIH10GND

PIH10VCC

COH1

PIHeader90L

PIHeader90R

COHeader9

PILED301 PILED302

COLED3

PIR1901PIR1902

COR19

PIR2001

PIR2002COR20

PIR2101PIR2102COR21

PIREG100

PIREG101

PIREG102

PIREG103

PIREG104

PIREG106

PIREG107

COREG1

PIREG200

PIREG201

PIREG202

COREG2

PIREG300

PIREG301

PIREG302

PIREG303 PIREG304

COREG3

PIREG400

PIREG401

PIREG402

COREG4

PIC4601PIREG304

PIC4401PIREG106

PIC4201PIREG107

PIC4701

PIR2102

PIREG402

PIC3901PIC4101

PIC4501

PIC4801

PIREG100

PIREG103

PIREG104PIREG202

PIREG300

PIREG301

PIREG303

PIC3602 PIC3702PIC3801

PIC3902 PIC4001PIC4102 PIC4202PIC4302

PIC4402

PIC4502

PIC4602


PID200PIH10GND

PIHeader90R

PILED302

PIR2001

PIREG101

PIREG201

PIREG302PIREG401

PIC4002PIREG102

PID100PIHeader90L

PID300PIH10VCC

PILED301PIR2101


PIC4301

PIC4902

PID101

PID301

PIR1902

PIREG200

PIREG400

PID201PIR1901

PIR2002

NLSysPowMonitor

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TMS/RA0 17

TCK/RA1 38

SCL2/RA2 58

SDA2/RA3 59

TDI/RA4 60

TDO/RA5 61

TRCLK/RA6 91

TRD3/RA7 92

VREF-/CVREF-/AERXD2/PMA7/RA9 28

VREF+/CVREF+/AERXD3/PMA6/RA10 29

AETXCLK/SCL1/INT3/RA14 66

AETXEN/SDA1/INT4/RA15 67

PGED1/AN0/CN2/RB0 25

PGEC1/AN1/CN3/RB1 24

AN2/C2IN-/CN4/RB2 23

AN3/C2IN+/CN5/RB3 22

AN4/C1IN-/CN6/RB4 21

AN5/C1IN+/VBUSON/CN7/RB5 20

PGEC2/AN6/OCFA/RB6 26

PGED2/AN7/RB7 27

AN8/C1OUT/RB8 32

AN9/C2OUT/RB9 33

AN10/CVREFOUT/PMA13/RB10 34

AN11/ERXERR/AETXERR/PMA12/RB11 35

AN12/ERXD0/AECRS/PMA11/RB12 41

AN13/ERXD1/AECOL/PMA10/RB13 42

AN14/ERXD2/AETXD3/PMALH/PMA1/RB14 43

AN15/ERXD3/AETXD2/OCFB/PMALL/PMA0/CN12/RB15 44

T2CK/RC1 6

T3CK/AC2TX/RC2 7

T4CK/AC2RX/RC3 8

T5CK/SDI1/RC4 9

OSC1/CLKI/RC12 63

SOSCI/CN1/RC13 73

SOSCO/T1CK/CN0/RC14 74

OSC2/CLKO/RC15 64

SDO1/OC1/INT0/RD0 72

OC2/RD1 76

OC3/RD2 77

OC4/RD3 78

OC5/PMWR/CN13/RD4 81

PMRD/CN14/RD5 82

ETXEN/PMD14/CN15/RD6 83

ETXCLK/PMD15/CN16/RD7 84

RTCC/EMDIO/IC1/RD8 68

SS1/IC2/RD9 69

SCK1/IC3/PMCS2/PMA15/RD10 70

EMDC/IC4/PMCS1/PMA14/RD11 71

ETXD2/IC5/PMD12/RD12 79

ETXD3/PMD13/CN19/RD13 80

AETXD0/SS1A/U1BRX/U1ACTS/CN20/RD14 47

AETXD1/SCK1A/U1BTX/U1ARTS/CN21/RD15 48

PMD0/RE0 93

PMD1/RE1 94

PMD2/RE2 98

PMD3/RE3 99

PMD4/RE4 100

PMD5/RE5 3

PMD6/RE6 4

PMD7/RE7 5

AERXD0/INT1/RE8 18

AERXD1/INT2/RE9 19

C1RX/ETXD1/PMD11/RF087

C1TX/ETXD0/PMD10/RF188

SDA1A/SDI1A/U1ARX/RF252

USBID/RF351

SDA3A/SDI3A/U3ARX/PMA9/CN17/RF449

SCL3A/SDO3A/U3ATX/PMA8/CN18/RF550

VUSB55

VBUS54

SCL1A/SDO1A/U1ATX/RF853

AC1RX/SS3A/U3BRX/U3ACTS/RF1240

AC1TX/SCK3A/U3BTX/U3ARTS/RF1339

C2RX/PMD8/RG090

C2TX/ETXERR/PMD9/RG189

D+/RG257

D-/RG356

ECOL/SCK2A/U2BTX/U2ARTS/PMA5/CN8/RG610

ECRS/SDA2A/SDI2A/U2ARX/PMA4/CN9/RG711

ERXDV/SCL2A/SDO2A/U2ATX/PMA3/CN10/RG812

ERXCLK/SS2A/U2BRX/U2ACTS/PMA2/CN11/RG914

TRD1/RG1296

TRD0/RG1397

TRD2/RG1495

AERXERR/RG151

MCLR13

VDD86

VCAP/VDDCORE85

VDD2

VDD16

VDD37

VDD46

VDD62

AVDD30

AVSS31

VSS15

VSS36

VSS45

VSS65

VSS75

IC7

PIC32MX795F512L-80I/PT

GND

10R16

+3.3V

GND

Notes: - VCAP is a 6V 1-Ohm Tantalum Capacitor

SysPowMonitor

MCLR

VBUS

USB_PIC_NUSB_PIC_P

OSC1

OSC2

ICSP_PGDICSP_PGC

SOSCISOSCO

FPGA_D0FPGA_D1FPGA_D2FPGA_D3FPGA_D4FPGA_D5FPGA_D6FPGA_D7FPGA_A-/DFPGA_R-/W

FPGA_OK-OUTFPGA_OK-IN

PIC_I2C1_SCLPIC_I2C1_SDA

PIC_UART1_/CTSPIC_UART1_/RTS

PIC_UART1_RX

PIC_UART1_TXPIC_UART5_RXPIC_UART5_TX

PIC_UART2_RXPIC_UART2_TX PIC_SPI1_SCLK

PIC_SPI1_SDI

PIC_SPI1_SDO

PIC_SPI2_SCLKPIC_SPI2_SDIPIC_SPI2_SD0

MagNet_DRDY

Humidity_I/O

PIC_FPGASelect

PIC_SRAM_/WP

PIC_SRAM_/CSuSD_/CSBarometer_/CS

Barometer_/SHDN

GPS_XRSTGPS_XSTBYGPS_PPS

XBEE_AssociateXBEE_/DTRXBEE_/Reset

22pF

C34

GND

22pF

C35

SOSCI

SOSCO

32.7

68K

Hz

X2

22pF

C32

GND

8MH

z X1

22pF

C33

OSC1

OSC2

10KR17

100R18

+3.3V

MCLR

ICSP_MCLRS5

GND

0.1uF

C29

+3.3V

GND

0.1uF

C28

0.1uF

C27

0.1uF

C26

0.1uF

C25

0.1uF

C31

0.1uF

C24

10uF

C30+3.3V

PIC_Accel_INT2PIC_Accel_INT1

PIC_Gyro_/CSPIC_Gyro_DRDYPIC_Gyro_INT1

PIC2401

PIC2402

COC24 PIC2501

PIC2502

COC25 PIC2601

PIC2602

COC26 PIC2701

PIC2702

COC27 PIC2801

PIC2802

COC28 PIC2901

PIC2902

COC29

PIC3001PIC3002

COC30

PIC3101

PIC3102

COC31

PIC3201PIC3202

COC32

PIC3301PIC3302

COC33

PIC3401PIC3402

COC34

PIC3501PIC3502

COC35

PIIC701

PIIC702

PIIC703

PIIC704

PIIC705

PIIC706

PIIC707

PIIC708

PIIC709

PIIC7010

PIIC7011

PIIC7012

PIIC7013

PIIC7014

PIIC7015

PIIC7016

PIIC7017

PIIC7018

PIIC7019

PIIC7020

PIIC7021

PIIC7022

PIIC7023

PIIC7024

PIIC7025

PIIC7026

PIIC7027

PIIC7028

PIIC7029

PIIC7030

PIIC7031 PIIC7032

PIIC7033

PIIC7034

PIIC7035

PIIC7036

PIIC7037

PIIC7038

PIIC7039

PIIC7040

PIIC7041

PIIC7042

PIIC7043

PIIC7044

PIIC7045

PIIC7046

PIIC7047

PIIC7048

PIIC7049

PIIC7050

PIIC7051

PIIC7052

PIIC7053

PIIC7054

PIIC7055

PIIC7056

PIIC7057

PIIC7058

PIIC7059

PIIC7060

PIIC7061

PIIC7062

PIIC7063

PIIC7064

PIIC7065

PIIC7066

PIIC7067

PIIC7068

PIIC7069

PIIC7070

PIIC7071

PIIC7072

PIIC7073

PIIC7074

PIIC7075

PIIC7076

PIIC7077

PIIC7078

PIIC7079

PIIC7080

PIIC7081

PIIC7082

PIIC7083

PIIC7084

PIIC7085

PIIC7086

PIIC7087

PIIC7088

PIIC7089

PIIC7090

PIIC7091

PIIC7092

PIIC7093

PIIC7094

PIIC7095

PIIC7096

PIIC7097

PIIC7098

PIIC7099

PIIC70100

COIC7

PIR1601

PIR1602COR16

PIR1701

PIR1702COR17

PIR1801

PIR1802

COR18

PIS501

PIS502COS5

PIX100

PIX101COX1

PIX200

PIX201

COX2

PIC2401 PIC2501 PIC2601 PIC2701 PIC2801 PIC2901

PIIC702

PIIC7016

PIIC7037

PIIC7046

PIIC7055

PIIC7062

PIIC7086

PIR1602

PIR1702

PIIC7076NLBarometer00CS

PIIC7038NLBarometer00SHDN

PIIC7018NLFPGA0A00D

PIIC7093NLFPGA0D0

PIIC7094NLFPGA0D1

PIIC7098NLFPGA0D2

PIIC7099NLFPGA0D3

PIIC70100NLFPGA0D4

PIIC703NLFPGA0D5

PIIC704NLFPGA0D6

PIIC705NLFPGA0D7

PIIC7088NLFPGA0OK0IN

PIIC7087NLFPGA0OK0OUT

PIIC7019NLFPGA0R00W

PIC2402 PIC2502 PIC2602 PIC2702 PIC2802 PIC2902PIC3002

PIC3102

PIC3201

PIC3301

PIC3401

PIC3501

PIIC7015

PIIC7031

PIIC7036

PIIC7045

PIIC7065

PIIC7075

PIS501

PIIC7059NLGPS0PPS

PIIC7061NLGPS0XRST

PIIC7060NLGPS0XSTBY

PIIC7029NLHumidity0I0O

PIR1802 NLICSP0MCLR

PIIC7024NLICSP0PGC

PIIC7025NLICSP0PGD

PIIC7017NLMagNet0DRDY

PIIC7013

PIR1701PIR1801PIS502

NLMCLR

PIC3001PIIC7085

PIC3101

PIIC7030PIR1601

PIIC701

PIIC706

PIIC707

PIIC708

PIIC7014

PIIC7020

PIIC7021

PIIC7022

PIIC7026

PIIC7027

PIIC7032

PIIC7033

PIIC7034

PIIC7035

PIIC7041

PIIC7042

PIIC7043

PIIC7044

PIIC7051

PIIC7071

PIIC7079

PIIC7080

PIIC7089

PIIC7090

PIIC7095

PIIC7096

PIIC7097

PIC3202

PIIC7063

PIX101NLOSC1

PIC3302

PIIC7064

PIX100NLOSC2

PIIC7069NLPIC0Accel0INT1

PIIC7068NLPIC0Accel0INT2

PIIC7081NLPIC0FPGASelect

PIIC7082NLPIC0Gyro00CS

PIIC7083NLPIC0Gyro0DRDY

PIIC7084NLPIC0Gyro0INT1

PIIC7066NLPIC0I2C10SCL

PIIC7067NLPIC0I2C10SDA

PIIC7070NLPIC0SPI10SCLK

PIIC709NLPIC0SPI10SDI

PIIC7072NLPIC0SPI10SDO

PIIC7010NLPIC0SPI20SCLK

PIIC7012NLPIC0SPI20SD0

PIIC7011NLPIC0SPI20SDI

PIIC7078NLPIC0SRAM00CS

PIIC7058NLPIC0SRAM00WP

PIIC7047NLPIC0UART100CTS

PIIC7048NLPIC0UART100RTS

PIIC7052NLPIC0UART10RX

PIIC7053NLPIC0UART10TX





PIC3402

PIIC7073

PIX200NLSOSCI

PIC3502

PIIC7074

PIX201NLSOSCO

PIIC7023NLSysPowMonitor

PIIC7056NLUSB0PIC0N

PIIC7057NLUSB0PIC0P

PIIC7077NLuSD00CS

PIIC7054NLVBUS

PIIC7092NLXBEE00DTR

PIIC7028NLXBEE00Reset

PIIC7091NLXBEE0Associate

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A

Date: 4/10/2012 Sheet ofFile: C:\Users\..\Navigator_Connectors.SchDoc Drawn By:

PIC32 USB Interface In-Circuit Serial Programming Interface

DS1085_SDADS1085_SCLMagnet_SCL Magnet_SDAPIC_I2C1_SCL PIC_I2C1_SDA

PIC_SCLK PIC_MOSIPIC_MISOPIC_SPI2_SCLK PIC_SPI2_SDI PIC_SPI2_SD0

PIC_SRAM_SCK PIC_SRAM_SIPIC_SRAM_SOuSD_SDIuSD_SDOuSD_SCLK

PIC_SPI1_SCLK PIC_SPI1_SDI PIC_SPI1_SDO

Barometer_SCLK Barometer_DINBarometer_DOUT

PIC_UART1_/CTS PIC_UART1_/RTS

PIC_UART1_RX PIC_UART1_TX

GPS_RXAGPS_TXA

GPS_RXBGPS_TXB

XBEE_DOUT XBEE_DIN

XBEE_/RTS XBEE_/CTS



MagNet_DRDYHumidity_I/O

PIC_FPGASelect

PIC_SRAM_/WPPIC_SRAM_/CS

uSD_/CS

Barometer_/CSBarometer_/SHDN

GPS_XRSTGPS_XSTBYGPS_PPS

XBEE_AssociateXBEE_/DTRXBEE_/Reset

VBUS

GND +3.3V

0.1uFC23

GND

GND

USB_PIC_N

USB_PIC_P

ICSP_MCLR

ICSP_PGD

ICSP_PGC

+3.3VGND 123456

Header 8

ICSP

100R14

100R15

Value: 10K

ABCD

ABCD

R13

Value: 10K SMD Resistor Array

GNDID

D+D-VCC

Module6

Mini-USB

123

Debug2

I2C1

123

Debug3

UART1

123

Debug5

UART2

123

Debug6

UART5

1234

Debug1

SPI1

1234

Debug4

SPI2

PIC_SPI1_SCLKPIC_SPI1_SDIPIC_SPI1_SDO

GND

PIC_SPI2_SCLKPIC_SPI2_SDIPIC_SPI2_SD0

GND

PIC_I2C1_SCLPIC_I2C1_SDA

GND

PIC_UART2_TXPIC_UART2_RX

GND

PIC_UART1_RXPIC_UART1_TX

GND

PIC_UART5_RXPIC_UART5_TX

GND

Communication Debug Headers

PIC SPI-1 Interface (PIC Peripherals)

PIC SPI-2 Interface (PIC-FPGA Connection)

PIC I2C-1 Interface

PIC UART-2/5 Interface (Trimble GPS Module)

PIC UART-1 Interface (XBee Pro)

PIC Control Lines

Text

PIC_Accel_SDAPIC_Accel_SCL

PIC_Gyro_SPC PIC_Gyro_SDO PIC_Gyro_SDI

PIC2301

PIC2302COC23

PIDebug101

PIDebug102

PIDebug103

PIDebug104

CODebug1

PIDebug201

PIDebug202

PIDebug203

CODebug2

PIDebug301

PIDebug302

PIDebug303

CODebug3

PIDebug401

PIDebug402

PIDebug403

PIDebug404

CODebug4

PIDebug501

PIDebug502

PIDebug503

CODebug5

PIDebug601

PIDebug602

PIDebug603

CODebug6

PIHeader 801

PIHeader 802

PIHeader 803

PIHeader 804

PIHeader 805

PIHeader 806

COHeader 8

PIModule600

PIModule601

PIModule602

PIModule603

PIModule604

COModule6

PIR1301

PIR1302

PIR1303

PIR1304

PIR1305

PIR1306

PIR1307

PIR1308

COR13

PIR1401PIR1402COR14

PIR1501PIR1502COR15

PIC2302PIHeader 802

NLBarometer00CSNLBarometer00SHDN

PIDebug102

NLBarometer0DINNLPIC0Gyro0SDI

NLPIC0SPI10SDO

NLPIC0SRAM0SINLuSD0SDI

PIDebug103

NLBarometer0DOUTNLPIC0Gyro0SDO

NLPIC0SPI10SDI

NLPIC0SRAM0SONLuSD0SDO

PIDebug104

NLBarometer0SCLKNLPIC0Gyro0SPC

NLPIC0SPI10SCLK

NLPIC0SRAM0SCKNLuSD0SCLK

PIDebug203

NLDS10850SCLNLMagnet0SCL

NLPIC0Accel0SCL

NLPIC0I2C10SCL

PIDebug202

NLDS10850SDANLMagnet0SDA

NLPIC0Accel0SDA

NLPIC0I2C10SDA

PIC2301

PIDebug101

PIDebug201 PIDebug301

PIDebug401

PIDebug501

PIDebug601

PIHeader 803

PIModule600

PIR1305

NLGPS0PPS

PIDebug603

NLGPS0RXANLPIC0UART50TX

PIDebug503

NLGPS0RXBNLPIC0UART20TX

PIDebug602

NLGPS0TXANLPIC0UART50RX

PIDebug502

NLGPS0TXBNLPIC0UART20RX

NLGPS0XRSTNLGPS0XSTBY

NLHumidity0I0O

PIHeader 801NLICSP0MCLR

PIR1502NLICSP0PGC

PIR1402NLICSP0PGD

NLMagNet0DRDY

PIHeader 804

PIR1401 PIHeader 805

PIR1501

PIHeader 806

PIModule601

PIModule604

PIR1301

PIR1302

PIR1303

PIR1304

PIR1307

PIR1308

NLPIC0FPGASelect

PIDebug403

NLPIC0MISONLPIC0SPI20SDI

PIDebug402

NLPIC0MOSINLPIC0SPI20SD0

PIDebug404

NLPIC0SCLKNLPIC0SPI20SCLK

NLPIC0SRAM00CSNLPIC0SRAM00WP

NLPIC0UART100CTSNLXBEE00RTS

NLPIC0UART100RTSNLXBEE00CTS

PIDebug302

NLPIC0UART10RXNLXBEE0DOUT

PIDebug303

NLPIC0UART10TXNLXBEE0DIN

PIModule603

NLUSB0PIC0NPIModule602

NLUSB0PIC0P

NLuSD00CS

PIR1306NLVBUS

NLXBEE00DTRNLXBEE00Reset

NLXBEE0Associate

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A

Date: 4/10/2012 Sheet ofFile: C:\Users\..\Navigator_Components.SchDoc Drawn By:

GPS Module

Three-Axis Magnetometer

Barometric Sensor

LNA

R1

OPEN

SHORTR2

BOOT

XRST

VCCGND

XSTBY R3R4PPS

RX-B

RX-AR5

TX-A

TX-B

R6R7

Module2

Copernicus II DIP ModuleGND

+3.3v

+3.3v

10K

R9

10K

R8 GPS_RXA

GPS_TXAGPS_RXBGPS_TXB

GPS

_XR

STG

PS_X

STB

YG

PS_P

PS0.1uF

C12GND+3.3V

Serial SRAM

128MB SRAM

CS#

SO

WP#/ACC

GNDSISCK

HOLD#VCC

IC4

S25FL128P

104/40MHz SPI Interface

+3.3V

GND

PIC_SRAM_/WPPIC_SRAM_/CSPIC_SRAM_SCKPIC_SRAM_SIPIC_SRAM_SO 0.1uF

C13GND

+3.3V

Barometer_/CSBarometer_/SHDNBarometer_SCLKBarometer_DINBarometer_DOUT

Digital Barometer

VDDCAPGND

/SHDN/CS

DOUTDIN

SCLK

IC5

MPL115A1

8MHz SPI Interface

3-Axis Magnetometer

NC

NCNCNCNC SCL

VDD

S1

SETPGND

C1

GND SETC

VDDIO

DRDYSDA

IC6

HMC5883L 220nF

C22

GND

GND

+3.3V

2.2KR11

2.2KR12

Magnet_SCLMagnet_SDAMagNet_DRDY

0.1uFC21

GND

+3.3V

400KHz I2C Interface

38.4Kbps TSIP / 4.8Kbps NMEA Interface

XBee Module

VCC 0

DOUT 1

DIN 2

DO83 /RESET 4

PWM05 PWM16

NC7

/DTR 8

GND 9

AD410

/CTS 11ON//SLEEP12 VREF13

ASSOCIATE 14

/RTS 15

AD316

AD217

AD118

AD019

Module4

XBee Pro S1

XBEE_DOUTXBEE_DIN

XBEE_AssociateXBEE_/DTRXBEE_/RTSXBEE_/CTSXBEE_/Reset

+3.3v

GND

8.2pFC19

+3.3v

GND

57.6 Kbps Serial Interface

Humidity Sensor

MicroSD Card

1KR10

0.1uFC17

GND

VDD

DATANC

GND

Module5

RHT03

+3.3V+3.3V

Hum

idity

_I/O

NC/CSSDI

VDD

SCLKVSSSDONC

Module3

MicroSD Socket

0.1uF

C15

+3.3V

GND

uSD_/CSuSD_SDIuSD_SDOuSD_SCLK

25MHz SPI Interface

1-Wire Interface

1.0uF

C14

1.0uF

C16

1.0uFC18

4.7uF

C20

123456

Header2

Header 6

+3.3V

GND

VDD1

VDD_IO2

GND13 T214

DRDY15

CS19

SCL20

SDA21

SDO22

T123

Header1

L3G4200D Header

+3.3V

GND

PIC_Accel_SDAPIC_Accel_SCLPIC_Accel_INT2PIC_Accel_INT1

PIC_Gyro_/CSPIC_Gyro_SPC

PIC_Gyro_SDOPIC_Gyro_SDI

PIC_Gyro_DRDYPIC_Gyro_INT1

Test Connections

PIC1201 PIC1202

COC12

PIC1301

PIC1302COC13

PIC1401 PIC1402

COC14

PIC1501

PIC1502COC15

PIC1601 PIC1602

COC16

PIC1701

PIC1702COC17

PIC1801

PIC1802COC18

PIC1901

PIC1902COC19

PIC2001PIC2002

COC20

PIC2101

PIC2102COC21

PIC2201 PIC2202

COC22

PIHeader101

PIHeader102

PIHeader1013

PIHeader1014

PIHeader1015

PIHeader1019

PIHeader1020

PIHeader1021

PIHeader1022

PIHeader1023

COHeader1

PIHeader201

PIHeader202

PIHeader203

PIHeader204

PIHeader205

PIHeader206

COHeader2

PIIC400

PIIC401

PIIC402

PIIC403

PIIC404

PIIC405

PIIC406

PIIC407

COIC4

PIIC500

PIIC501

PIIC502

PIIC503

PIIC504

PIIC505

PIIC506

PIIC507

COIC5

PIIC600

PIIC601

PIIC602

PIIC603

PIIC604

PIIC605

PIIC606

PIIC607

PIIC608

PIIC609

PIIC6010 PIIC6011

PIIC6012

PIIC6013

PIIC6014

PIIC6015

COIC6

PIModule200

PIModule201

PIModule202

PIModule203

PIModule204

PIModule205

PIModule206

PIModule207

PIModule208

PIModule209 PIModule2010

PIModule2011PIModule2012

PIModule2013

PIModule2014

PIModule2015

PIModule2016

PIModule2017

PIModule2018

PIModule2019

COModule2

PIModule300

PIModule301

PIModule302

PIModule303



COModule3

PIModule400

PIModule401

PIModule402

PIModule403

PIModule404

PIModule405

PIModule406

PIModule407

PIModule408

PIModule409

PIModule4010


PIModule4013

PIModule4014

PIModule4015

PIModule4016

PIModule4017

PIModule4018

PIModule4019

COModule4

PIModule500

PIModule501

PIModule502

PIModule503

COModule5

PIR801

PIR802COR8

PIR901

PIR902COR9

PIR1001

PIR1002COR10

PIR1101

PIR1102COR11

PIR1201

PIR1202COR12

PIC1201

PIC1301PIC1401

PIC1502

PIC1701

PIC1801 PIC1902

PIC2101

PIHeader101

PIHeader102

PIHeader201

PIIC406

PIIC407 PIIC500

PIIC601

PIIC603

PIIC6012

PIModule203

PIModule204

PIModule205

PIModule207

PIModule303


PIR801 PIR901

PIR1002

PIR1102 PIR1202

PIIC504NLBarometer00CS

PIIC503NLBarometer00SHDN

PIIC506NLBarometer0DIN

PIIC505NLBarometer0DOUT

PIIC507NLBarometer0SCLK

PIC1202

PIC1302

PIC1402

PIC1501

PIC1602

PIC1702

PIC1802 PIC1901

PIC2002

PIC2102

PIHeader1013

PIHeader206

PIIC403

PIIC502

PIIC608

PIIC6010

PIModule200

PIModule202

PIModule208

PIModule305

PIModule409

PIModule503

PIModule2012

NLGPS0PPS

PIModule2014NLGPS0RXA

PIModule2013NLGPS0RXBPIModule2016NLGPS0TXA

PIModule2017NLGPS0TXB

PIModule206

PIR802

NLGPS0XRSTPIModule209

PIR902

NLGPS0XSTBY

PIModule501PIR1001

NLHumidity0I0O

PIIC6014NLMagNet0DRDY

PIIC600

PIR1101NLMagnet0SCL

PIIC6015

PIR1201NLMagnet0SDA

PIC1601

PIIC501

PIC2001PIIC609

PIC2201PIIC6011 PIC2202

PIIC607

PIHeader1014

PIIC602

PIIC604

PIIC605

PIIC606

PIIC6013

PIModule201

PIModule2010

PIModule2011

PIModule2015

PIModule2018

PIModule2019

PIModule300

PIModule307

PIModule403

PIModule405

PIModule406

PIModule407

PIModule4010

PIModule4012

PIModule4013

PIModule4016

PIModule4017

PIModule4018

PIModule4019

PIModule502

PIHeader205NLPIC0Accel0INT1PIHeader204NLPIC0Accel0INT2

PIHeader203NLPIC0Accel0SCL

PIHeader202NLPIC0Accel0SDA

PIHeader1019NLPIC0Gyro00CS

PIHeader1015NLPIC0Gyro0DRDY

PIHeader1023NLPIC0Gyro0INT1

PIHeader1021NLPIC0Gyro0SDI

PIHeader1022NLPIC0Gyro0SDO

PIHeader1020NLPIC0Gyro0SPC

PIIC400NLPIC0SRAM00CS

PIIC402NLPIC0SRAM00WP

PIIC405NLPIC0SRAM0SCK

PIIC404NLPIC0SRAM0SI

PIIC401NLPIC0SRAM0SO

PIModule301NLuSD00CS

PIModule304NLuSD0SCLK

PIModule302NLuSD0SDI

PIModule306NLuSD0SDO

PIModule4011NLXBEE00CTS

PIModule408NLXBEE00DTR

PIModule404NLXBEE00Reset

PIModule4015NLXBEE00RTS

PIModule4014NLXBEE0Associate

PIModule402NLXBEE0DIN

PIModule401NLXBEE0DOUT

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A

Date: 4/10/2012 Sheet ofFile: C:\Users\..\FPGA_Core.SchDoc Drawn By:

FPGA Power Connections

+1.2V

+3.3V

+1.2VGND

GND GND

P112P113P114P115

P144P143P142P141P139P137P136P135P134P133P132P129P126P125P122P121P120P119P118

ASDOnCSOP3P4P7P8P9P24P25P28P30P31P32

P73P74P75

P79P86P87P92P93P94P96P97P99P100P101P103P104

P72P71P70P69P67P65P64P63P60P59P58P57P55P53P52P51P48P47P45P44P43P42P41P40

+2.8V

+2.8V

BLED_Blue1BLED_Blue2BLED_Blue3BLED_Blue4

BLED_Orange1BLED_Orange2BLED_Orange3BLED_Orange4

Camera_SCLCamera_SDACamera_RESET

Camera_EXTCLK

Camera_DCLK

Camera_HDCamera_VD

Camera_DOUT0Camera_DOUT1Camera_DOUT2Camera_DOUT3Camera_DOUT4Camera_DOUT5Camera_DOUT6Camera_DOUT7

FPGA_D0FPGA_D1FPGA_D2FPGA_D3FPGA_D4FPGA_D5FPGA_D6FPGA_D7FPGA_A-/DFPGA_R-/WFPGA_OK-OUTFPGA_OK-IN

Gyro_DRDYGyro_INT1

+3.3V

+3.3V

+3.3V +3.3VFPGA_SPI_ClockFPGA_SPI_DataInFPGA_SPI_DataOutFPGA_I2C_ClockFPGA_I2C_DataFPGA_SPI_/GyroCS

FPGASRAM_/WPFPGA_SPI_/SRAMCS

Accel_SA0Accel_INT1Accel_INT2

Motor_W1Motor_W2Motor_W3Motor_W4

CONFSwitch_1CONFSwitch_2CONFSwitch_3CONFSwitch_4CONFSwitch_5CONFSwitch_6CONFSwitch_7TLED_Orange1TLED_Orange2

PIC_SCLKPIC_MOSIPIC_MISOPIC_FPGASelect

BUltrasonic_TRIGGERBUltrasonic_EDGE

FUltrasonic_TRIGGERFUltrasonic_EDGE

Bottom PCB Bus

1 23 45 67 89 1011 1213 1415 1617 1819 2021 2223 2425 2627 2829 3031 3233 3435 3637 3839 40

Header7

Header 20X2H

+2.8V+1.5V+1.2V

+5.0V+3.3V

GND

Camera_SCLCamera_SDACamera_RESETCamera_EXTCLK

Camera_DCLK

Camera_HDCamera_VD

Camera_DOUT0Camera_DOUT1Camera_DOUT2Camera_DOUT3Camera_DOUT4Camera_DOUT5Camera_DOUT6Camera_DOUT7

BUltrasonic_TRIGGERBUltrasonic_EDGE

BLED_Blue1BLED_Blue2BLED_Blue3BLED_Blue4

BLED_Orange1BLED_Orange2BLED_Orange3BLED_Orange4

IO, (ASDO) 1

IO, (nCSO) 2

IO, LVDS15p (CRC_ERROR) 3

IO, LVDS15n (CLKUSR) 4

IO, VREFB1N0 7

IO, LVDS8p, (DPCLK0/DQS0L) 8

IO, LVDS8n 9

IO, LVDS7p, (DPCLK1/DQS1L) 24

IO, LVDS7n 25

IO, VREFB1N1 28

IO 30

IO, PLL1_OUTp 31

IO, PLL1_OUTn 32

BA

NK

1

FPGA1A

EP2C8T144C8N

IO, LVDS37n 112

IO, LVDS37p 113

IO, LVDS36n 114

IO, LVDS36p 115

IO, LVDS34n 118

IO, LVDS34p, (DPCLK8/DQS0T) 119

IO, VREFB2N0 120

IO, LVDS33n 121

IO, LVDS33p 122

IO, LVDS29n, DQ1T0 125

IO, LVDS29p, DQ1T1 126


IO, VREFB2N1 132




IO, LVDS19p, (DPCLK10/DQS1T) 136




IO, LVDS17n (DEV_CLRn) 142

IO, LVDS16p, (DM1T/BWS#1T) 143

IO, LVDS16n 144

BA

NK

2

FPGA1B

EP2C8T144C8N

IO, LVDS56n, (DM1R/BWS#1R) 73

IO, LVDS56p, DQ1R8 74

IO, LVDS54n (INIT_DONE) 75

IO, LVDS54p (nCEO) 76

IO, VREFB3N1 79

IO, LVDS48n, DQ1R7 86

IO, LVDS48p, (DPCLK6/DQS1R) 87


IO, LVDS47p, (DPCLK7/DQS0R) 93




IO, VREFB3N0 99



IO, PLL2_OUTp, DQ1R0 103

IO, PLL2_OUTn 104

BA

NK

3

FPGA1C

EP2C8T144C8N

IO, LVDS77n (DEV_OE) 40

IO, LVDS77p, (DM1B/BWS#1B) 41

IO, LVDS76p, DQ1B8 42

IO, LVDS76n, DQ1B7 43



IO, LVDS74p, (DPCLK2/DQS1B) 47

IO, LVDS74n 48

IO, VREFB4N1 51






IO, LVDS66p 59

IO, LVDS66n 60

IO, VREFB4N0 63

IO, LVDS60p, (DPCLK4/DQS0B) 64

IO, LVDS60n 65

IO, LVDS59n 67

IO, LVDS58p 69

IO, LVDS58n 70

IO, LVDS57p 71

IO, LVDS57n 72

BA

NK

4

FPGA1D

EP2C8T144C8N

GND_PLL1 34VCCD_PLL135 GND_PLL1 36VCCA_PLL137 GNDA_PLL1 38

GND_PLL2 106VCCD_PLL2107 GND_PLL2 108VCCA_PLL2109 GNDA_PLL2 110

FPGA1H

EP2C8T144C8N

VCCIO15

VCCIO123 VCCINT 26

VCCIO129

VCCIO446

VCCINT 50

VCCIO454

VCCINT 62

VCCIO466

VCCIO377

VCCINT 81

VCCIO395

VCCIO3102

VCCIO2116 VCCINT 124

VCCIO2127 VCCINT 131

VCCIO2138

FPGA1F

EP2C8T144C8N

GND6

GND19

GND27

GND33

GND39

GND49

GND56

GND61

GND68

GND78

GND 80

GND 98

GND 105

GND 111

GND 117

GND 123

GND 128

GND 130

GND 140

FPGA1G

EP2C8T144C8N

PIFPGA101

PIFPGA102

PIFPGA103

PIFPGA104

PIFPGA107

PIFPGA108

PIFPGA109

PIFPGA1024

PIFPGA1025

PIFPGA1028

PIFPGA1030

PIFPGA1031

PIFPGA1032

COFPGA1A

PIFPGA10112

PIFPGA10113

PIFPGA10114

PIFPGA10115

PIFPGA10118

PIFPGA10119

PIFPGA10120

PIFPGA10121

PIFPGA10122

PIFPGA10125

PIFPGA10126

PIFPGA10129

PIFPGA10132

PIFPGA10133

PIFPGA10134

PIFPGA10135

PIFPGA10136

PIFPGA10137

PIFPGA10139

PIFPGA10141

PIFPGA10142

PIFPGA10143

PIFPGA10144

COFPGA1B

PIFPGA1073

PIFPGA1074

PIFPGA1075

PIFPGA1076

PIFPGA1079

PIFPGA1086

PIFPGA1087

PIFPGA1092

PIFPGA1093

PIFPGA1094

PIFPGA1096

PIFPGA1097

PIFPGA1099

PIFPGA10100

PIFPGA10101

PIFPGA10103

PIFPGA10104

COFPGA1C

PIFPGA1040

PIFPGA1041

PIFPGA1042

PIFPGA1043

PIFPGA1044

PIFPGA1045

PIFPGA1047

PIFPGA1048

PIFPGA1051

PIFPGA1052

PIFPGA1053

PIFPGA1055

PIFPGA1057

PIFPGA1058

PIFPGA1059

PIFPGA1060

PIFPGA1063

PIFPGA1064

PIFPGA1065

PIFPGA1067

PIFPGA1069

PIFPGA1070

PIFPGA1071

PIFPGA1072

COFPGA1D

PIFPGA105

PIFPGA1023

PIFPGA1026

PIFPGA1029

PIFPGA1046

PIFPGA1050

PIFPGA1054

PIFPGA1062

PIFPGA1066

PIFPGA1077

PIFPGA1081

PIFPGA1095

PIFPGA10102

PIFPGA10116 PIFPGA10124


PIFPGA10138

COFPGA1F

PIFPGA106

PIFPGA1019

PIFPGA1027

PIFPGA1033

PIFPGA1039

PIFPGA1049

PIFPGA1056

PIFPGA1061

PIFPGA1068

PIFPGA1078

PIFPGA1080

PIFPGA1098

PIFPGA10105

PIFPGA10111

PIFPGA10117

PIFPGA10123

PIFPGA10128

PIFPGA10130

PIFPGA10140

COFPGA1G

PIFPGA1034



PIFPGA10106



COFPGA1H

PIHeader701 PIHeader702




















COHeader7

PIFPGA1026

PIFPGA1035

PIFPGA1037

PIFPGA1050

PIFPGA1062

PIFPGA1081

PIFPGA10107

PIFPGA10109

PIFPGA10124

PIFPGA10131

PIHeader702

PIHeader704

PIFPGA1077

PIFPGA1095

PIFPGA10102

PIHeader706

PIFPGA105

PIFPGA1023

PIFPGA1029

PIFPGA1046

PIFPGA1054

PIFPGA1066

PIFPGA10116

PIFPGA10127

PIFPGA10138

PIHeader708

PIHeader7010

PIFPGA1055NLAccel0INT1NLP55

PIFPGA1057NLAccel0INT2NLP57

PIFPGA1053NLAccel0SA0NLP53

PIFPGA101NLASDO

PIFPGA1069

PIHeader7034

NLBLED0Blue1NLP69

PIFPGA1070

PIHeader7036

NLBLED0Blue2NLP70

PIFPGA1071

PIHeader7038

NLBLED0Blue3NLP71

PIFPGA1072

PIHeader7040

NLBLED0Blue4NLP72

PIFPGA1063

PIHeader7026

NLBLED0Orange1NLP63

PIFPGA1064

PIHeader7028

NLBLED0Orange2NLP64

PIFPGA1065

PIHeader7030

NLBLED0Orange3NLP65PIFPGA1067

PIHeader7032

NLBLED0Orange4NLP67

PIFPGA1060

PIHeader7016

NLBUltrasonic0EDGENLP60PIFPGA1059

PIHeader7014

NLBUltrasonic0TRIGGERNLP59

PIFPGA1092

PIHeader7023NLCamera0DCLK

NLP92

PIFPGA1093

PIHeader7025NLCamera0DOUT0

NLP93

PIFPGA1094


NLP94

PIFPGA1096


NLP96

PIFPGA1097


NLP97

PIFPGA1099


NLP99

PIFPGA10100


NLP100

PIFPGA10101


NLP101PIFPGA10103


NLP103

PIFPGA1079

PIHeader7017NLCamera0EXTCLK

NLP79

PIFPGA1086

PIHeader7019NLCamera0HD

NLP86

PIFPGA1075

PIHeader7015NLCamera0RESET

NLP75

PIFPGA1073

PIHeader7011NLCamera0SCL

NLP73PIFPGA1074

PIHeader7013NLCamera0SDA

NLP74

PIFPGA1087

PIHeader7021NLCamera0VD

NLP87

PIFPGA103NLCONFSwitch01NLP3







PIFPGA10122NLFPGA0A00DNLP122

PIFPGA10112NLFPGA0D0NLP112








PIFPGA1043NLFPGA0I2C0ClockNLP43

PIFPGA1044NLFPGA0I2C0DataNLP44

PIFPGA10129NLFPGA0OK0INNLP129PIFPGA10126NLFPGA0OK0OUTNLP126

PIFPGA10125NLFPGA0R00WNLP125

PIFPGA1045NLFPGA0SPI00GyroCSNLP45

PIFPGA1051NLFPGA0SPI00SRAMCSNLP51

PIFPGA1040NLFPGA0SPI0ClockNLP40

PIFPGA1041NLFPGA0SPI0DataInNLP41

PIFPGA1042NLFPGA0SPI0DataOutNLP42

PIFPGA1052NLFPGASRAM00WPNLP52

PIFPGA1032NLFUltrasonic0EDGENLP32

PIFPGA1031NLFUltrasonic0TRIGGERNLP31

PIFPGA106

PIFPGA1019

PIFPGA1027

PIFPGA1033

PIFPGA1034

PIFPGA1036

PIFPGA1038

PIFPGA1039

PIFPGA1049

PIFPGA1056

PIFPGA1061

PIFPGA1068

PIFPGA1078

PIFPGA1080

PIFPGA1098

PIFPGA10105

PIFPGA10106

PIFPGA10108

PIFPGA10110

PIFPGA10111

PIFPGA10117

PIFPGA10123

PIFPGA10128

PIFPGA10130

PIFPGA10140

PIHeader701

PIHeader703

PIHeader705

PIHeader707

PIHeader709

PIFPGA1047NLGyro0DRDYNLP47

PIFPGA1048NLGyro0INT1NLP48

PIFPGA10141NLMotor0W1NLP141




PIFPGA102NLnCSO

PIFPGA1076

PIHeader7012

PIHeader7018

PIHeader7020

PIHeader7022

PIHeader7024

PIFPGA1028NLP28 NLTLED0Orange1

PIFPGA1030NLP30 NLTLED0Orange2

PIFPGA1058NLP58

PIFPGA10104NLP104

PIFPGA10132NLP132 NLPIC0SCLK

PIFPGA10133NLP133 NLPIC0MOSI

PIFPGA10134NLP134 NLPIC0MISO

PIFPGA10135NLP135 NLPIC0FPGASelect

PIFPGA10136NLP136

PIFPGA10137NLP137

PIFPGA10139NLP139

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A

Date: 4/10/2012 Sheet ofFile: C:\Users\..\FPGA_Clocks.SchDoc Drawn By:

FPGA Clock Connections

FPGA Programmable Clock Synthesizer

25.175MHz Master Clock

OE GNDOUTVDD

X3

SE2838CT-ND

+3.3V

GND

25MHz_ClockClock_Synth_0

Clock_Synth_1

25MHz_Clock

OUT1OUT0

VCCGND

CTRL0CTRL1

SDASCL

IC9

DS108510nFC79

0.1uFC78

GND

+5.0V

+5.0V

J5Jumper

J6Jumper

Clock_Synth_0Clock_Synth_1

DS1085_SDADS1085_SCL

+5.0V

1 23 45 67 89 10

JEPC

Header 5X2

GND

GND

+3.3VnCEnCSO

DCLKCONF_DONEnCONFIGDATAOASDO

1 23 45 67 89 10

BB

Header 5X2

GND

GND

+3.3V

TCKTDOTMS

TDI

FPGA JTAG Configuration Headers

FPGA Configuration Memory

FPGA Configuration Connections

nCS

DATA

VCC

GND

ASDI

DCLKVCCVCC

IC8

EPCS16SI8N

+3.3V

GND

nCSOASDODATAODCLK

nSTATUSnCONFIGCONF_DONEDCLK

nCE

MSEL1MSEL0

DATAO

TMSTCKTDOTDI

GND

MSEL0MSEL1nCETCK

TMSnSTATUSnCONFIG

CONF_DONE

TDI

+3.3V

FPGA Signal Conditioning

0.1uF

C64GND+3.3V

0.1uF C56

0.1uF C60

0.1uF C65

0.1uF C70

0.1uF C74

0.1uF C76

0.1uF C57

0.1uF C61

0.1uF C66

0.1uF C58

0.1uF C62

0.1uF C67

0.1uF C71

0.1uF C75

0.1uF C59

0.1uF C63

0.1uF C68

0.1uF C72

+3.3V +3.3V+2.8V+1.2V

GND GND GND GND

FPGA Bypass Capacitors

Value: 10K

ABCD

ABCD

R29


IC9_10K

_A

IC9_10K

_B

GND

IC9_

10K

_C

IC9_

10K

_D

IC9_10K_AIC9_10K_BIC9_10K_CIC9_10K_D

Value: 10K

ABCD

ABCD

R30


Value: 10K

ABCD

ABCD

R27


10K

R28

1.0uF

C69

1.0uF

C73

1.0uF

C77

TDO 10

TMS 11

TCK 12

TDI 13

DATA0 14

DCLK 15

nCE 16

nCONFIG 20nSTATUS 82

CONF_DONE 83

MSEL1 84

MSEL0 85

FPGA1E

EP2C8T144C8N

CLK0, LVDSCLK0p INPUT17 CLK1, LVDSCLK0n INPUT18 CLK2, LVDSCLK1p INPUT21 CLK3, LVDSCLK1n INPUT22

CLK7, LVDSCLK3n INPUT88

CLK6, LVDSCLK3p INPUT89

CLK5, LVDSCLK2n INPUT90

CLK4, LVDSCLK2p INPUT91

FPGA1I

EP2C8T144C8N

PIBB01 PIBB02

PIBB03 PIBB04

PIBB05 PIBB06

PIBB07 PIBB08

PIBB09 PIBB010

COBB

PIC5601 PIC5602COC56








PIC6401 PIC6402

COC64





PIC6901 PIC6902

COC69PIC7001 PIC7002



COC72

PIC7301 PIC7302



COC75


PIC7701 PIC7702

COC77

PIC7801

PIC7802COC78

PIC7901

PIC7902COC79

PIFPGA1010

PIFPGA1011

PIFPGA1012

PIFPGA1013

PIFPGA1014

PIFPGA1015

PIFPGA1016

PIFPGA1020

PIFPGA1082

PIFPGA1083

PIFPGA1084

PIFPGA1085

COFPGA1E

PIFPGA1017

PIFPGA1018

PIFPGA1021

PIFPGA1022

PIFPGA1088

PIFPGA1089

PIFPGA1090

PIFPGA1091

COFPGA1I

PIIC800

PIIC801

PIIC802

PIIC803

PIIC804

PIIC805

PIIC806

PIIC807

COIC8

PIIC900

PIIC901

PIIC902

PIIC903

PIIC904

PIIC905

PIIC906

PIIC907

COIC9PIJ501

PIJ502COJ5

PIJ601

PIJ602COJ6

PIJEPC01 PIJEPC02

PIJEPC03 PIJEPC04

PIJEPC05 PIJEPC06

PIJEPC07 PIJEPC08

PIJEPC09 PIJEPC010

COJEPC

PIR2701

PIR2702

PIR2703

PIR2704

PIR2705

PIR2706

PIR2707

PIR2708

COR27

PIR2801 PIR2802COR28

PIR2901

PIR2902

PIR2903

PIR2904

PIR2905

PIR2906

PIR2907

PIR2908

COR29

PIR3001

PIR3002

PIR3003

PIR3004

PIR3005

PIR3006

PIR3007

PIR3008

COR30

PIX300 PIX301

PIX302PIX303

COX3

PIC5601

PIC6001

PIC6501

PIC7001

PIC7401

PIC7601

PIC7701

PIC5701

PIC6101

PIC6601

PIC6901

PIBB04

PIC5801 PIC5901

PIC6201 PIC6301

PIC6401PIC6701 PIC6801

PIC7101 PIC7201

PIC7301PIC7501

PIIC802

PIIC806

PIIC807

PIJEPC04

PIR2705

PIR2706

PIR2707

PIR2708

PIR2801

PIX300

PIX303

PIC7802 PIC7902PIIC902

PIJ502 PIJ602

PIR2901

PIR2902

PIFPGA1017

PIX302NL25MHz0Clock

PIIC804

PIJEPC09

NLASDO

PIFPGA1021

PIIC901

NLClock0Synth00

PIFPGA1091

PIIC900

NLClock0Synth01

PIFPGA1083

PIJEPC03

PIR2802NLCONF0DONE

PIFPGA1014

PIIC801

PIJEPC07

NLDATAO

PIFPGA1015

PIIC805

PIJEPC01

NLDCLK

PIIC907

PIR2905

NLDS10850SCL

NLIC9010K0APIIC906

PIR2906

NLDS10850SDA

NLIC9010K0B

PIBB02

PIBB010

PIC5602 PIC5702 PIC5802 PIC5902

PIC6002 PIC6102 PIC6202 PIC6302

PIC6402PIC6502 PIC6602 PIC6702 PIC6802

PIC6902PIC7002 PIC7102 PIC7202


PIC7602

PIC7702

PIC7801 PIC7901

PIIC803

PIIC903

PIJEPC02

PIJEPC010

PIR2903

PIR2904

PIR3005

PIR3006

PIR3007

PIR3008

PIX301

PIIC904PIJ501

PIR2907

NLIC9010K0CPIIC905

PIJ601

PIR2908 NLIC9010K0D

PIFPGA1085

PIR3001NLMSEL0

PIFPGA1084

PIR3002NLMSEL1

PIFPGA1016

PIJEPC06

PIR3003NLnCE

PIFPGA1020

PIJEPC05

PIR2701NLnCONFIG

PIIC800

PIJEPC08

NLnCSO

PIBB06

PIBB07 PIBB08

PIFPGA1018

PIFPGA1022

PIFPGA1088

PIFPGA1089

PIFPGA1090

PIFPGA1082

PIR2702NLnSTATUS

PIBB01

PIFPGA1012

PIR3004NLTCK

PIBB09

PIFPGA1013

PIR2704NLTDI

PIBB03

PIFPGA1010NLTDO

PIBB05

PIFPGA1011

PIR2703NLTMS

1

1

2

2

3

3

4

4

D D

C C

B B

A A

Title

Number RevisionSize

A

Date: 4/10/2012 Sheet ofFile: C:\Users\..\FPGA_Components.SchDoc Drawn By:

Motor ESC Connectors

123

Header3

W1

123

Header5

W2

123

Header6

W3

1 2 3

Header4

W4

Motor_W1

Motor_W2

Motor_W3

Mot

or_W

4

AccelerometerGyroscope

+3.3V

GND

GND

GND

GND

Vdd_IOSPCSDISDO

CS

DRDY/INT2INT1

GNDGNDGNDGNDGNDGND

PLLFILT

VddVdd

Three-Axis GyroscopeIC1

L3G4200D

+3.3V

GND

0.1uFC2

470nFC6

0.1uFC7

10K

R3

GND

Gyro_/CSGyro_SPCGyro_SDIGyro_SDO

Gyro_DRDYGyro_INT1

VDDIO

BYP

NC

SCL

GND

SDA

SA0

GND

INT2

GND

INT1

GNDGND

VDD

GND GND

3-Axis AccelerometerIC2

MMA8452Q

2.25MHz I2C Interface10MHz SPI Interface

+3.3V

0.1uFC5

0.1uFC4

GNDGND

4.7K R24.7K R1

+3.3V

Accel_SA0Accel_INT1Accel_INT2

Acc

el_S

CL

Acc

el_S

DA

1234 5

678

S1

SW-DIP4

S2S3S4

+3.3V

GND

CONFSwitch_1CONFSwitch_2CONFSwitch_3CONFSwitch_4

CONFSwitch_5CONFSwitch_6CONFSwitch_7

+3.3V

FPGA Switches

1 2

3 4

G

O

LED1

LED PLCC-4

1K R6TLED_Orange1

1 2

3 4

G

O

LED2

LED PLCC-4

1K R7TLED_Orange2

GND

FPGA LED's

Serial SRAM

128MB SRAM

CS#

SO

WP#/ACC

GNDSISCK

HOLD#VCC

IC3

S25FL128P

104/40MHz SPI Interface

+3.3V

GND

FPGASRAM_/WPFPGASRAM_/CSFPGASRAM_SCKFPGASRAM_SIFPGASRAM_SO 0.1uF

C8

Gyro_/CSGyro_SPCGyro_SDIGyro_SDO

Accel_SCLAccel_SDA

FPGASRAM_/CSFPGASRAM_SCKFPGASRAM_SIFPGASRAM_SO

FPGA_SPI_ClockFPGA_SPI_DataInFPGA_SPI_DataOut

FPGA_SPI_ClockFPGA_SPI_DataInFPGA_SPI_DataOut

FPGA_I2C_ClockFPGA_I2C_Data

FPGA_SPI_/SRAMCS

FPGA_SPI_/GyroCS

Data Bus Connections

0.1uF

C9

+5.0V

FUltrasonic_TRIGGERFUltrasonic_EDGE VDDTrigger

Edge VSS

Module1

HC-SR04 Ultrasonic ModuleGND

Forward Ultrasonic Ranger

10uFC10

Value: 10K

ABCD

ABCD

R4


GND

Value: 10K

ABCD

ABCD

R5


1.0uFC11

10uFC1

4.7uFC3

J4

Jumper

J3Jumper

J2

Jumper

J1

Jumper

PIC101

PIC102COC1

PIC201

PIC202COC2

PIC301

PIC302COC3PIC401

PIC402COC4

PIC501

PIC502COC5

PIC601PIC602COC6

PIC701PIC702COC7

PIC801

PIC802COC8

PIC901

PIC902COC9PIC1001


PIC1102COC11

PIHeader301

PIHeader302

PIHeader303

COHeader3

PIHeader401 PIHeader402 PIHeader403

COHeader4

PIHeader501

PIHeader502

PIHeader503

COHeader5

PIHeader601

PIHeader602

PIHeader603

COHeader6

PIIC100

PIIC101

PIIC102

PIIC103

PIIC104

PIIC105

PIIC106

PIIC107

PIIC108

PIIC109

PIIC1010

PIIC1011

PIIC1012

PIIC1013

PIIC1014

PIIC1015

COIC1

PIIC200

PIIC201

PIIC202

PIIC203

PIIC204

PIIC205

PIIC206

PIIC207

PIIC208

PIIC209

PIIC2010

PIIC2011

PIIC2012

PIIC2013

PIIC2014 PIIC2015

COIC2

PIIC300

PIIC301

PIIC302

PIIC303

PIIC304

PIIC305

PIIC306

PIIC307

COIC3

PIJ101 PIJ102

COJ1

PIJ201 PIJ202

COJ2

PIJ301

PIJ302COJ3

PIJ401 PIJ402

COJ4

PILED101 PILED102

PILED103 PILED104

COLED1

PILED201 PILED202

PILED203 PILED204

COLED2



COModule1

PIR101PIR102COR1

PIR201 PIR202COR2

PIR301PIR302

COR3

PIR401

PIR402

PIR403

PIR404

PIR405

PIR406

PIR407

PIR408

COR4

PIR501

PIR502

PIR503

PIR504

PIR505

PIR506

PIR507

PIR508

COR5

PIR601 PIR602COR6

PIR701 PIR702COR7

PIS101

PIS102

PIS103

PIS104 PIS105

PIS106

PIS107

PIS108

COS1

PIS201 PIS202

COS2

PIS301 PIS302

COS3

PIS401 PIS402

COS4

PIC101PIC202

PIC301PIC401

PIC801

PIIC100

PIIC1014

PIIC1015

PIIC200

PIIC2013

PIIC306

PIIC307

PIJ101

PIJ201

PIJ301PIJ401

PIR102

PIR201

PIS101

PIS102

PIS103

PIS104

PIS201

PIS301

PIS401


PIModule100

PIIC2010NLAccel0INT1

PIIC208NLAccel0INT2

PIIC206NLAccel0SA0

PIIC203PIR101

NLAccel0SCLNLFPGA0I2C0Clock

PIIC205PIR202

NLAccel0SDANLFPGA0I2C0DataPIR404

PIS108NLCONFSwitch01

PIR403


PIR402


PIR401


PIR503


PIR502


PIR501


PIIC104

NLFPGA0SPI00GyroCS NLGyro00CS

PIIC300

NLFPGA0SPI00SRAMCS NLFPGASRAM00CS

PIIC101

PIIC305

NLFPGA0SPI0Clock NLFPGASRAM0SCK

NLGyro0SPC

PIIC102

PIIC304

NLFPGA0SPI0DataIn NLFPGASRAM0SI

NLGyro0SDI

PIIC103

PIIC301

NLFPGA0SPI0DataOut NLFPGASRAM0SO

NLGyro0SDO

PIIC302NLFPGASRAM00WP

PIModule102NLFUltrasonic0EDGE

PIModule101NLFUltrasonic0TRIGGER

PIC201

PIC302PIC402

PIC501

PIC702

PIC802


PIHeader303

PIHeader403PIHeader503

PIHeader603

PIIC107

PIIC108

PIIC109

PIIC1010

PIIC1011

PIIC204

PIIC207

PIIC209

PIIC2011

PIIC2012

PIIC2014 PIIC2015

PIIC303

PIModule103

PIR302

PIR405

PIR406

PIR407

PIR408

PIR505

PIR506

PIR507

PIR602

PIR702

PIIC105NLGyro0DRDY

PIIC106NLGyro0INT1

PIHeader301NLMotor0W1




PIC102PIIC1012 PIC502PIIC201

PIC601

PIC701

PIIC1013PIC602PIR301

PIHeader302PIJ102

PIHeader402

PIJ302

PIHeader502PIJ202

PIHeader602PIJ402

PIIC202

PILED102

PILED104

PIR601

PILED202

PILED204

PIR701

PIR504PIR508PILED101

PILED103

NLTLED0Orange1

PILED201

PILED203

NLTLED0Orange2

Project Title: The Ad-Flier! Team Name: Sky LightsAcunto_Greene.pdfProject Title: The Ad-Flier! Team...

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Transcript of Project Title: The Ad-Flier! Team Name: Sky LightsAcunto_Greene.pdfProject Title: The Ad-Flier! Team...