Tiny/v2.11

Autopilots
__TOC__
The complete re-design of the popular Tiny autopilot was done on October 9, 2007. The new design is not a bug-fix as no known flaws exist with the current 0.99 and 1.1 versions, so the redesign is performance, easy to use and easy to assemble-oriented !
== Hardware Revision History ==
Version #	Release Date	Release Notes
v2.11 	12/2007 	Bug fix : GPS Reset pin protection (D2)
v2.1 	10/2007 	3.3V regulator type changed, power switch type changed, connectivity improved
v2.0 	06/2007 	Initial release of Tiny v2
== Features ==
* Single LPC2148 MCU
* 8 x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 1 x 3.3V TTL UART (5V tolerant)
* 8 x PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x SPI bus
* 1 x I2C bus
* 1 x USB (client)
* Integrated GPS receiver and patch antenna (4Hz update)
* 5v / 2.25A switching power supply (input voltage range 6.1v → 18v)
* 3.3v / 1A linear regulator
* 3 x status LEDs with attached test point
* 24 grams (with LEA-4P GPS and 18mm GPS antenna)
* 70.8 x 40mm (smaller then a banking card)
* 2 layers PCB design, 0603 components
Image:Tiny_v2-1_3D_top.jpg|Tiny v2.1 3D top view (18mm GPS antenna)
Image:Tiny_v2-1_3D_bottom.jpg|Tiny v2.1 3D bottom view
Image:Tiny_2_1_top_side.jpg|Tiny v2.1 top side view (13mm GPS antenna)
Image:Tiny_2_1_bottom_side.jpg|Tiny v2.1 bottom side view
The Tiny v2.1 autopilot uses a single Philips LPC2148 ARM7 based microcontroller.
The ARM7 is a low-power 32-bit RISC processor core and the Philips LPC2148 has 512KB on-chip Flash ROM, 40KB RAM and can be clocked at 60MHz.
Although critical control code such as the R/C interface and servo output are well segregated in Paparazzi software and well protected from interference from flaws in the stability/navigation/comm/payload code, great care must be taken when experimenting with new software as some errors can cause a the processor to halt or stall for extended periods causing total loss of control.
=== Feature additions : Tiny 2.1 vs Tiny 1.1 ===
* Hardware flow control on the modem
: The LPC has one "full-featured" serial port and one basic serial port.
::Tiny v1.1 had the full-featured port hard-wired to the GPS in order to leave the basic port open for initial bootloader programming.
::Tiny v2.1 exchange these ports and use the GPS Reset signal to "disconnect" the GPS for the one-time bootloader programming. Hardware flow control on the modem is now possible.
* 5V switching power supply
::The Texas Instruments PTH08080WAH switching 5V/2.25A integrated power supply module greatly simplify manufacturing, reduce costs, and improve performance.
::Tiny v2.1 have a voltage input range of 6.1V → 18V and enough 5V power for servos, high-power modems and video systems. Be careful using high power or digital servos consuming a lot of current. If you use four or more of them on your airframe it is recommended to supply them separately.
* 3.3V linear regulator
:Tiny v2.1 use a LM3940 1A regulator for 5V to 3.3V conversion in a SOT223 standard pinout package which is capable of providing plenty of power to modems or other devices.
:Tests have shown that any device with irregular power consumption can cause significant voltage fluctuations on the critical 3.3V bus.
:Users are advised to use a separate regulator as needed for such devices.
* Video/payload power switch.
:The TPS1100 transistor used on the Tiny v1.1 design has proven extremely useful but is intended for high-speed power switching of motor controllers and occupies a 5mm x 6mm space (SOIC-8).
:The replacement on the new Tiny v2.1 is a current-limiting switch TPS2051B intended for peripheral power control and should protect the 5V supply from voltage sags during the power-up of high capacitance peripherals as well as allow the 5V supply to continue working in the event of a complete short-circuit in the payload.
:: TPS2051BDBVR Single 500mA (1A limited) switch in a 3mm x 3mm SOT23-5 package
* GPS ground plane and antenna 
:The 13mm antenna on previous Tiny v1.1 proved to be an unworthy exchange of performance for weight. Crude parking-lot tests showed an approximate 3dBi loss (as expected from the data sheets), but the narrow bandwidth of the small antenna made it more sensitive to de-tuning from nearby components in the aircraft. Flight performance was acceptable but poor climb rate calculations were observed with the smaller antenna. Tiny 1.1 users are advised to fit a 20mm antenna.
::Tiny v2.1 use a 18mm x 4mm antenna (20mm x 4mm is possible but no more available) and feature 30% more ground plane area (40 x 40mm).
* GPS Reset
:Occasionally the GPS fails to boot properly, displays very poor S/N ratios, and fails to obtain a valid fix. This may be caused by a slow power-up of the 5V or 3V regulators, or by some unusual EMI that is only present at boot. Usually a simple power cycle will correct the problem but occasionally the receiver seems to use the backup battery to retain the bad state.
:: On the Tiny v2.1 design GPS reset is connected to a GPIO pin on the MCU and allow the operator to reset the GPS as needed.
*Headers
:Tiny v2.1 feature revised header layouts on all peripherals.
::*The modem header have CTS/RTS/DTR and both 5V and 3.3V supplies.(3.3V is shared with LPC and ADC channels - use with caution and only with very low power modems like the 10mW Xbee).
::*The Tiny v1.1 button is removed and it's function is combined on the USB header along with a LED trigger so that indicator, button, and USB can be remotely mounted.
::* Vertical Infrared (1 ADC) with 3.3v supply
::* Horizontal Infrared (2 ADC) with 3.3v supply
::* 2 general purpose ADC with both 3.3v and 5v supplies
::* 2 general purpose ADC with optional on-board resistor bridge and both 3.3v and 5v supplies
::* Two axis Camera control with two servo signal, vdo switch control, vdo power switch and both 5V and 3.3V supplies
::* SPI bus with 3.3V supply
::* I2C bus with both 5V and 3V supplies
* Leds & testpoints
:3 status LEDs with attached test point available on Tiny v2.1 design (instead 2 on Tiny v1.1)
* Components size
:Many users (not only beginners) don't really think that 0402 components on Tiny v1.1 is a great saving from any viewpoint. Even if one saves a little space by using these components, there must still be enough room around to solder it by hand with a soldering iron.
:Tiny v2.1 use 0603 components, the assembly should be a bit more friendly to everyone.
* Layers amount
:Tiny v2.1 2 Layer design (instead 4 Layers on Tiny v1.1) should simplify manufacturing and reduce costs.
== Architecture ==
== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board
SERIAL
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
4 	DTR 	 	 	
5 	CTS 	 	 	
6 	RTS 	 	 	
7 	RXD1 	IN 	UART1 Serial Input (3.3V level, 5V Tolerant)	Green
8 	TXD1 	OUT 	UART1 Serial Output (3.3V level) 	Blue
SPI
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
3 	SSEL 	IN 	SSP Slave Select. Selects the SSP interface as a slave (SSEL1) 	Brown
4 	MOSI 	I/O 	SPI1 Master Out Slave In. Data output from master or data input to slave	Grey
5 	MISO 	I/O 	SPI1 Master In Slave Out. Data input to master or data output from slave	Green
6 	DRDY 	IN 	External interrupt 0 input (EINT0) 	Purple
7 	SCK 	I/O 	SPI0 Serial clock. Clock output from master or input to slave 	Yellow
PPM
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5v 	PWR 	5V Rail from Tiny to R/C receiver supply 	Orange
3 	PPM_IN 	IN 	PPM Stream from R/C Receiver (5V tolerant)	White
4 	SERV_RST	OUT 	external PPM decoder reset (Note 1) 	
5 	SERV_CLK	OUT 	external PPM decoder clock (Note 1) 	
Note 1 : Used only if servos are connected to the R/C receiver
USB
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V 	PWR 	3.3V Rail from Tiny 	Red
3 	USB+ 	I/O 	USB bidirectional D+ line 	Green
4 	USB- 	I/O 	USB bidirectional D- line 	White
5 	VBUS 	IN 	Indicates the presence of USB bus power (P0.23) (5V level)	Orange
6 	BUTTON	IN 	External Button (+3.3v pullup) 	
7 	LED3 	OUT 	GPIO (LED #3 command) 	
8 	ADC_7 	IN 	Analog to Digital Converter Input #7 	
IRV
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
3 	IRV 	IN 	Vertical IR Sensor signal (Analog to Digital Converter Input #0)	Purple
IRH
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
3 	IRH_2	IN 	Horizontal IR Sensor signal axis 2 (Analog to Digital Converter Input #2)	Grey
4 	IRH_1	IN 	Horizontal IR Sensor signal axis 1 (Analog to Digital Converter Input #1)	Brown
ADC1
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5v 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
4 	ADC_4	IN 	Analog to Digital Converter Input #4	
5 	ADC_3	IN 	Analog to Digital Converter Input #3	
ADC2
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5v 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
4 	ADC_6	IN 	Analog to Digital Converter Input #6 (Maximum input level can be selected with R12 value)	
5 	ADC_5	IN 	Analog to Digital Converter Input #5 (Maximum input level can be selected with R13 value)	
DOWNLOAD
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5v 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V 	PWR 	3.3V Rail from Tiny 	Red
4 	BOOT 	IN 	In-Circuit Serial Programming (ISP) enable (P0.14, +3.3v pullup) (Note 2)	
5 	GPS_RESET	IN 	leave unconnected, hold this pin low only for bootloader programming 	
6 	TXD0 	OUT 	UART0 Serial Output (shared with GPS receiver) 	Blue
7 	RXD0 	IN 	UART0 Serial Input (shared with GPS receiver) 	Green
Note 2 : Holding this pin low for at least 3mS after a RESET (or power up) instructs the controller to enter programming mode.
I2C
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V	PWR 	3.3V Rail from Tiny 	Red
4 	SDA 	I/O 	I2C bus Serial DAta 	
5 	SCL 	I/O 	I2C bus Serial CLock	
CAM
Pin #	Name 	Type	Description 	Suggested Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from Tiny 	Orange
3 	+3.3V 	PWR 	3.3V Rail from Tiny 	Red
4 	CAM_SW	OUT 	video source/payload selection signal 	
5 	SRV_1 	OUT 	Servo PWM signal #1 	
6 	SRV_5 	OUT 	Servo PWM signal #5 	
7 	AUX 	PWR 	video/payload switchable 5V power suply	
=== LEDs ===
Tiny 2.1 has 3 LEDs.
By default the LEDs are use for:
; LED 1, green: not used by default
; LED 2, red: GPS_LED: blinking if trying to get a fix, on if 3D fix
; LED 3, yellow : not used by default
== Schematic ==
== PCB ==
Image:Tiny_v2-1_PCB_top.jpg|Tiny v2.1 PCB top side view (Olimex)
Image:Tiny_v2-1_Top_Copper.png|Tiny v2.11 PCB top copper
Image:Tiny_v2-1_PCB_bottom.jpg|Tiny v2.1 PCB bottom side view (Olimex)
Image:Tiny_v2-1_Bottom_Copper.png|Tiny v2.11 PCB bottom copper
=== Gerber & Drill Files ===
Download Tiny v2.11 gerber & drill files (zip)
RS274X, units = Inches, format = 2:5
:*Tiny_v2-11.GTO (Top Component Print Layer)
:*Tiny_v2-11.GTS (Top Solder Mask)
:*Tiny_v2-11.GTL (Top Copper Layer)
:*Tiny_v2-11.GBL (Bottom Copper Layer)
:*Tiny_v2-11.GBS (Bottom Solder Mask)
:*Tiny_v2-11.DRI (NC XY coordinates & Drill tools sizes)
== Assembly ==
Have a look at the Tiny_Assembly for assembly hints.
===Components Layout===
Image:Tiny_v2-1_2D_top.jpg|Tiny v2.11 top components Layout
Image:Tiny_v2-1_2D_bottom.jpg|Tiny v2.11 bottom components Layout
Image:Tiny_v2-1_Top_Components.png|Tiny v2.11 top components details
Image:Tiny_v2-1_Bottom_Components.png|Tiny v2.11 bottom components details
=== Bill Of Material ===
Download Tiny v2.11 Bill Of Material (zipped .xls file)
Qty 	Manufacturer part #	Schematic part name / value 	Designator 	Description 	Manufacturer 	Package 	Optional 	Digikey.com 	Other distributor
Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors
2 	ERJ-3EKF33R0V 	33 	R21, R22 	1/16W, 5% 	Panasonic 	0603 	 	P33HCT-ND 	
2 	ERJ-3EKF1000V 	100 	R5, R24 	1/16W, 5% 	Panasonic 	0603 	 	P100HCT-ND 	
1 	ERJ-3EKF3300V 	330 	R4 	1/16W, 5% 	Panasonic 	0603 	 	P330HCT-ND 	
3 	ERJ-3EKF1001V 	1K 	R16, R17, R23 	1/16W, 5% 	Panasonic 	0603 	 	P1.00KHCT-ND 	
3 	ERJ-3EKF1501V 	1.5K 	R2, R19, R20 	1/16W, 5% 	Panasonic 	0603 	 	P1.50KHCT-ND 	
2 	ERJ-3EKF1801V 	1.8k (see note1) 	R13,R18 	1/16W, 5% 	Panasonic 	0603 	 	P1.8KHCT-ND 	
3 	ERJ-3EKF3301V 	3.3K 	R3, R14, R15 	1/16W, 5% 	Panasonic 	0603 	 	P3.3KHCT-ND 	
7 	ERJ-3EKF1002V 	10K 	R1, R6 to R11 	1/16W, 5% 	Panasonic 	0603 	 	P10.0KHCT-ND 	
1 	ERJ-3EKF1502V 	15K (see note2) 	R12 	1/16W, 5% 	Panasonic 	0603 	 	P15.0KHCT-ND 	
Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors
5 	C0603C180J5GAC 	18pF 	C22, C26 to C29	50V, 5% 	Kemet 	0603 	 	399-1052-1-ND 	
19 	C0603C104K5RAC 	100nF 	C2 to C20 	50V, 10% 	Kemet 	0603 	 	399-5089-1-ND 	
2 	T520A336M006ATE070 	33uF/6V 	C24, C25 	SMD tantalum capacitor 	Kemet 	A case (EIA 3216-18)	 	399-4719-1-ND 	
2 	TAJD107K020R 	100uF/20V 	C1, C21 	SMD tantalum capacitor 	AVX Corp. 	D case (EIA 7343-31)	 	478-1724-1-ND 	
1 	EEC-EN0F204J2 	0.2F 	C23 	SMD double layer capacitor (Goldcap) 	Panasonic 	specific 	 	P14163CT-ND 	
Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors
1 	MLF2012DR47K 	0.47uH 	L1 	SMD Inductor 	TDK 	0805 	 	445-1043-1-ND 	
Semiconductors	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors	Semiconductors 	Semiconductors
2 	1PS79SB10 	1PS79SB10 	D1, D2 	Schottky diode 0.2A/30v 	NXP 	SOD523 (EIA SC79) 	 	1PS79SB10 T/R-ND 	
1 	LM3940IMP-3.3 	LM3940IMP-3.3 	IC3 	1A low dropout regulator for 5V to 3.3V conversion	National Semic.	SOT223 	 	LM3940IMP-3.3CT-ND	
1 	TPS2051BDBV 	TPS2051B 	IC4 	Current Limited Power Distribution Switch 	Texas Instr. 	SOT23-5 	yes 	296-21265-1-ND 	
1 	LPC2148FBD64 	LPC2148FBD64 	IC5 	Single-chip ARM7 32-bit microcontroller 	NXP 	LQFP64 	 	568-1765-ND 	
1 	CD4017BPW 	4017 	IC6 	Decade Counter/Divider with 10 Decoded Outputs 	Texas Instr. 	TSSOP16 	 	296-14252-1-ND 	
1 	APT1608MGC 	KP-1608MGC 	LED1 	SMD Chip Green LED Lamp 	Kingbright 	0603 	 	754-1118-1-ND 	
1 	APT1608SURCK 	KP-1608SURC 	LED2 	SMD Chip Red LED Lamp 	Kingbright 	0603 	yes 	754-1123-1-ND 	
1 	APT1608SYCK 	KP-1608SYC 	LED3 	SMD Chip Yellow LED Lamp 	Kingbright 	0603 	yes 	754-1124-1-ND 	
1 	BC807-40 	BC807 	T1 	PNP general purpose transistor 	NXP 	SOT23 	 	568-1629-1-ND 	
Modules 	Modules 	Modules 	Modules 	Modules 	Modules 	Modules 	Modules 	Modules 	Modules
1 	PTH08080WAH 	PTH_08080W 	IC1 	Wide-input adjustable switching regulator 	Texas Instr. 	specific 	 	296-20432-ND 	
1 	LEA-4P-0-000-0 	LEA_4P 	IC2 	GPS receiver 	ublox 	specific 	 	N/A 	(u-blox.com, see note 3)
Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors
7 	53047-0310 	SRV0, SRV4, SRV2, SRV6, IRV, SRV3, SRV7	J12 to J18 	Picoblade 3 pins 1.25mm straight header 	Molex 	specific 	 	WM1732-ND 	
1 	53047-0410 	IRH 	J11 	Picoblade 4 pins 1.25mm straight header 	Molex 	specific 	 	WM1733-ND 	
4 	53047-0510 	PPM,I2C,ADC2,ADC1 	J4, J6, J8, J10	Picoblade 5 pins 1.25mm straight header 	Molex 	specific 	J6,J8,J10 	WM1734-ND 	
3 	53047-0710 	SPI,CAM,DOWNLOAD 	J3, J5, J7 	Picoblade 7 pins 1.25mm straight header 	Molex 	specific 	J3,J5 	WM1736-ND 	
2 	53047-0810 	SERIAL,USB 	J2, J9 	Picoblade 8 pins 1.25mm straight header 	Molex 	specific 	 	WM1737-ND 	
Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other
1 	405C35B12M00000 	CTS405 12MHz 	Q1 	SMD 12MHz Quartz Crystal 	CTS 	specific 	 	CTX639CT-ND 	
1 	KSA-ST1580MS18 	KSA-ST1580MS18 	A1 	18x18mm ceramic Patch Antenna 	Sangshin 	specific 	- 	N/A 	KSA-ST1580MS18 (rfmw.com)
1 	ANA1580T18D4 	KSA-ST1580MS18 	A1 	18x18mm ceramic Patch Antenna 	Emtac 	specific 	- 	N/A 	ANA1580T18D4 (transplantgps.com)
Note 1 :
R13 calculated according attached ADC5 desired input level :
:*3.3v ⇒ 0
:*5v ⇒ 1.8k (default)
:*8v ⇒ 4.7k 
:*13v ⇒ 10k
:*18v ⇒ 15K
:*Other ⇒ R13 = (Vin - 3.3) x 1000
Note 2 :
R12 calculated according attached ADC6 desired input level :
:*3.3v ⇒ 0
:*5v ⇒ 1.8k
:*8v ⇒ 4.7k 
:*13v ⇒ 10k
:*18v ⇒ 15K (default)
:*Other ⇒ R13 = (Vin - 3.3) x 1000
Note 3 :
For sales make contact with Ublox distributor in the appropriate region (http://www.u-blox.com/disti/index.html)
Remark: u-blox are strictly controlling their GPS Chips right now, for some reason! They will refer you to get one on their website, which is $99.
== PCB and assembled boards suppliers ==
For private companies and enthusiast Paparazzi hardware suppliers, see Get Hardware page.
== Downloads ==
Source files
:*download Tiny v2.11 Protel 99SE SP6 design (zipped Protel 99 ddb file)
Gerber & Drill files
:*download Tiny v2.11 gerber & drill files (zip)
Assembly files
:*download 
:*download Tiny v2.11 Bill Of Material (zipped .xls file)
== Programming ==
The Philips LPC21xx series ARM7 microcontrollers include hardware ISP (InCircuit Serial Programming) and can be programmed through the serial interface UART0 (labled "download" on the PCB) by holding pin P0.14 (count 4 pins in from outside of PCB on download connector) low during power-up and until USB boot code programming is completed. Note this is a 1x operation usually done by the person supplying the Tiny v2 autopilot so you may want to ask if this was done from your Tiny v2 vendor.
 
Once the USB boot code is loaded (see above) the Paparazzi software includes a USB bootloader program that allows for easy 1-second programming through a standard USB port (labeled "USB" on the PCB) with only a USB to Tiny Molex 8-pin adapter cable needed. Using either the GUI (paparazzi) or command line arguments you can now upload new settings, flight plans, or software updates quickly and conveniently.
See the FirmwareFlashing page for more detailed instructions on installing the bootloader and autopilot software.
===Shortcuts===
*Lpc21BootloaderUpload
*Tunnel
*Tiny_GPS_config
Category:Tiny