Umarim v1.0

Autopilots
__TOC__
The ENAC team has been working on long endurance airplanes for a while now. It appeared that one of the many limitations was the integration of the electronic part into the new fuselages which are becoming thinner and thinner. So we started to work on a new version of autopilot mainly based on the well-known tiny. The new sensors becoming smaller and smaller, we were able to integrate onto the board the IMU and a new design of barometer. So now, the ENAC team is proud to present you the UMARIM! (which means "I Hope" in turkish)
== Hardware Revision History ==
Version #	Release Date	Release Notes
v1.0 	09/2011 	Initial release of Umarim
== Features ==
* NXP LPC2148 MCU based
* 1 x Triple axis Digital Gyroscope (Invensense ITG-3200)
* 1 x Triple axis Digital Accelerometer (Analog Devices ADXL345)
* 1 x Digital Baro-altimeter (Freescale MPXA6115 pressure sensor + Texas Instruments ADS1114 16bits ADC/PGA)
* 6 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 2 x UART (TTL 3.3V, 5V tolerant)
* 2 x I2C bus
* 1 x SPI bus
* 1 x USB (client)
* 4 x General Purpose I/O or Analog input channels (0V - 3.3V)
* 5v / 1.5A switching power supply (input voltage range 5.5V min → 17.0v max)
* 3.3v / 1A linear regulator
* 2 x status LEDs
* 9 grams (0,32 oz)
* 56 x 25mm (2.2" x 0.98")
* 4 layers PCB design
Image:Umarim_v1-0_3D_bottom.jpg|Umarim v1.0 3D bottom view
Image:Umarim_v1-0_3D_top.jpg|Umarim v1.0 3D top view
Image:Umarim_v1-0_top_side.jpg|Umarim v1.0 top side
Image:Umarim_v1-0_bottom_side.jpg|Umarim v1.0 bottom side
== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board
SRV0/1/2/3/6/7
Pin #	Name	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from autopilot	Orange
3 	SRVx	OUT 	Servo signal (PWM) 	White
RC
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+5v 	PWR 	5V Rail from autopilot 	Orange
3 	PPM_IN	IN 	PPM Stream from R/C Receiver (5V tolerant)	White
SPI1
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
3 	SSEL1	IN 	SSP Slave Select. Selects the SSP interface as a slave (SSEL1) 	Brown
4 	MOSI1	I/O 	SPI1 Master Out Slave In. Data output from master / data input to slave	Grey
5 	MISO1	I/O 	SPI1 Master In Slave Out. Data input to master / data output from slave	Green
6 	DRDY1	IN 	External interrupt 0 input (EINT0) 	Purple
7 	SCK1 	I/O 	SPI1 Serial clock. Clock output from master or input to slave 	Yellow
AUX
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from autopilot 	Orange
3 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
4 	AUX1 	I/O 	General Purpose I/O #1 or ADC Input ADC_0 (lpc AD1.5)	
5 	AUX2 	I/O 	General Purpose I/O #2 or ADC Input ADC_1 (lpc AD1.4)	
6 	AUX3 	I/O 	General Purpose I/O #3 or ADC Input ADC_2 (lpc AD1.3)	
7 	AUX4 	I/O 	General Purpose I/O #4 or ADC Input ADC_3 (lpc AD1.2)	
UART0
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
3 	RXD0 	IN 	UART0 Serial Input (3.3V level, 5V Tolerant)	Green
4 	TXD0 	OUT 	UART0 Serial Output (3.3V level) 	Blue
UART1
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
3 	RXD1 	IN 	UART1 Serial Input (3.3V level, 5V Tolerant)	Green
4 	TXD1 	OUT 	UART1 Serial Output (3.3V level) 	Blue
I2C0
Pin #	Name 	Type 	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot	Red
3 	SDA0 	Open DrainI/O	I2C0 bus Serial DAta 	Brown
4 	SCL0 	Open DrainI/O	I2C0 bus Serial CLock 	Blue
I2C1
Pin #	Name 	Type 	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V 	PWR 	3.3V Rail from autopilot 	Red
3 	SDA1BOOT	Open DrainI/O	I2C1 bus Serial DAtaIn-Circuit Serial Programming (ISP) enable (P0.14, +3.3v pullup) (Note)	Brown
4 	SCL1 	Open DrainI/O	I2C1 bus Serial CLock 	Blue
Note: Holding this pin low for at least 3mS after a RESET (or power up) instructs the controller to enter programming mode.
USB
Pin #	Name	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	USB+	I/O 	USB bidirectional D+ line 	Green
3 	USB-	I/O 	USB bidirectional D- line 	White
4 	VBUS	IN 	Indicates the presence of USB bus power (P0.23) (5V level)	Orange
== Schematic ==
== Examples of Airborne Equipment Electrical Connections ==
=== Small Aircraft Connection Diagram ===
=== Large Aircraft Connection Diagram ===
== PCB ==
=== Gerber & Drill Files ===
WARNING:
Umarim requires care during assembly of the ITG3200. While most are assembled fine (PPZUAV, ENAC, a few individuals have self assembled Umarim v1) The tolerances between the pad and the pins are quite close. During reflow the IC should center itself fine. However if it does not center it could connect the pad to a pin(s). Simplest way to avoid this is to use non conducting IC tape under the IC on the big square pad when doing self assembly. 
PCB design Eurocircuits 6-C class compliant:
Download Umarim v1.0 gerber & drill files (zip)
RS274X, units = Inches, format = 2:5
:*Umarim_v1-0_SILKSCREEN_TOP.GBR (Top Component Print Layer)
:*Umarim_v1-0_SOLDERMASK_TOP.GBR (Top Solder Mask)
:*Umarim_v1-0_SIGNAL_TOP.GBR (Top Copper Layer)
:*Umarim_v1-0_INTERNAL_PLANE_1.GBR (Internal Copper Layer GND)
:*Umarim_v1-0_INTERNAL_PLANE_2.GBR (Internal Copper Layer +3.3V)
:*Umarim_v1-0_SIGNAL_BOTTOM.GBR (Bottom Copper Layer)
:*Umarim_v1-0_SOLDERMASK_BOTTOM.GBR (Bottom Solder Mask)
:*Umarim_v1-0_OUTLINE.GBR (Board Outline)
:*Umarim_v1-0_DRILL.GBR (NC XY coordinates & Drill tools sizes)
== Assembly ==
===Components Layout===
Image:Umarim_v1-0_2D_bottom.jpg|Umarim v1.0 bottom components Layout
Image:Umarim_v1-0_2D_top.jpg|Umarim v1.0 top components Layout
Image:Umarim_v1-0_Bottom_Components.png|Umarim v1.0 bottom components detail
Image:Umarim_v1-0_Top_Components.png|Umarim v1.0 top components detail
=== Bill Of Material ===
Download Umarim v1.0 Bill Of Material (zipped .xls file)
Qty 	Manufacturerpart number	Part name / value	Designator 	Description 	Manufacturer 	Packagetype 	Digikeypart number 	Other distributor	
Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	Resistors 	
2 	ERJ-3EKF33R0V 	33R 	R16,R17 	33.0 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P33.0HCT-ND 	 	
1 	ERJ-3EKF1000V 	100R 	R14 	100 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P100HCT-ND 	 	
2 	ERJ-3EKF3900V 	390R 	R12,R13 	390 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P390HCT-ND 	 	
2 	ERJ-3EKF1501V 	1.5K 	R11,R15 	1.50K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P1.50KHCT-ND 	 	
1 	ERJ-3EKF1801V 	1.8K 	R18 	1.80K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P1.80KHCT-ND 	 	
4 	ERJ-3EKF2201V 	2.2k 	R5-R8 	2.20K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P2.20KHCT-ND 	 	
1 	ERJ-3EKF3301V 	3.3K 	R19 	3.30K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P3.30KHCT-ND 	 	
5 	ERJ-3EKF1002V 	10K 	R1-R3,R9,R10 	10.0K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P10.0KHCT-ND 	 	
1 	ERJ-3EKF2203V 	220K 	R4 	220K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P220KHCT-ND 	 	
Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors
2 	C1608C0G1H180J 	18p 	C33,C34 	Ceramic 18pF 50V C0G 5% 	TDK Corp. 	0603 	445-1272-1-ND 	 	
1 	C1608X7R1H222K 	2.2n/50V 	C32 	Ceramic 2.2nF 50V X7R 10% 	TDK Corp. 	0603 	445-1309-1-ND 	 	
1 	C1608X7R1H103K 	10n 	C31 	Ceramic 10nF 50V X7R 10% 	TDK Corp. 	0603 	445-1311-1-ND 	 	
24 	CC0603KRX7R8BB104 	100n 	C1-C9,C14-C27,C35	Ceramic 0.1uF 25V X7R 10% 	Yageo 	0603 	311-1341-1-ND 	 	
4 	C1608X5R1E105K 	1u/25V/X5R 	C11,C12,C29,C36 	Ceramic 1.0uF 25V X5R10% 	TDK Corp. 	0603 	445-5146-1-ND 	 	
1 	C1608X5R0J106M 	10u/6.3V 	C30 	Ceramic 10uF 6.3V X5R 20% 	TDK Corp. 	0603 	445-4112-1-ND 	 	
2 	TAJA336K006RNJ 	33u/6.3v 	C13,C28 	Tantalum 33uF 6.3V 10% 	AVX Corp. 	A case (EIA 3216-18)	478-1666-1-ND 	 	
1 	TR3D107K020C0080 	100u/20V 	C10 	Tantalum 100uF 20V 10% 	Vishay/Sprague 	D case (EIA 7343-31)	718-1774-1-ND 	 	
Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors 	Inductors
1 	B82462G4682M 	6.8u 	L1 	1.65A Power Inductor 	Epcos Inc. 	6.0x6.0 mm 	495-1999-1-ND 	 	
Semiconductors	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors 	Semiconductors
1 	MPXH6115AC6U 	MPXH6115AC6U 	IC1 	Integrated Silicon Pressure Sensor 	Freescale Semicond. 	1317A-03 	MPXH6115AC6U-ND 	 	
1 	ADS1114IRUGT 	ADS1114RUG 	IC2 	16-BIT I2C Analog-to-Digital Converter 	Texas Instruments 	X2QFN10 	296-24933-1-ND 	 	
1 	PCA9306DCUR 	PCA9306DCU 	IC3 	Dual Bidirectional I2C Voltage-Level Translator 	Texas Instruments 	VSSOP8 	296-17988-1-ND 	 	
1 	TPS62112RSAT 	TPS62112 	IC4 	17V, 1.5-A, Synchronous Step-Down Converter 	Texas Instruments 	QFN16 	296-19717-1-ND 	 	
1 	LM3940IMP-3.3/NOPB 	LM3940IMP-3.3 	IC5 	1A low dropout regulator for 5V to 3.3V conversion	National Semicond. 	SOT223 	LM3940IMP-3.3CT-ND 	 	
1 	LT6654BHS6-3.3#TRMPBF 	LT6654BHS6-3.3 	IC6 	3.3V Precision Voltage Reference 	Linear Technology 	SOT23-6 	LT6654BHS6-3.3#TRMPBFCT-ND	 	
1 	ADXL345BCCZ-RL 	ADXL345 	IC7 	3-Axis 16 g Digital Accelerometer 	Analog Devices Inc. 	LGA14 	ADXL345BCCZ-RLCT-ND 	 	
1 	LPC2148FBD64,151 	LPC2148FBD64 	IC8 	Single-chip ARM7 32-bit microcontroller 	NXP Semicond. 	LQFP64 	568-1765-ND 	 	
1 	ITG-3200 	ITG-3200 	IC9 	3-Axis Digital-Output Gyroscope 	InvenSense 	QFN24 	N/A 	Farnell(#1858279)
Sparkfun(#SEN-09793)"	
1 	CD4017BPWR 	4017 	IC10 	Decade Counter/Divider with 10 Decoded Outputs 	Texas Instruments 	TSSOP16 	296-14252-1-ND 	 	
1 	LT6656BCS6-5#TRMPBF 	LT6656S6-5 	IC11 	5V Precision Voltage Reference 	Linear Technology 	SOT23-6 	LT6656BCS6-5#TRMPBFCT-ND 	 	
1 	APT1608SURCK 	KP-1608SURC 	LED1 	SMD Chip Red LED Lamp 	Kingbright Corp. 	0603 	754-1123-1-ND 	 	
1 	APT1608MGC 	KP-1608MGC 	LED2 	SMD Chip Green LED Lamp 	Kingbright Corp. 	0603 	754-1118-1-ND 	 	
1 	DTA143ZE-TP 	DTA143ZE 	T1 	PNP Pre-Biased Small Signal Transistor 	Micro Commercial Co.	SOT523 	DTA143ZE-TPMSCT-ND 	 	
Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors 	Connectors
7 	53047-0310 	RC,SRV0-3,SRV6-7 	J3,J8-J13 	Picoblade 3 pins 1.25mm straight header 	Molex Inc. 	- 	WM1732-ND 	 	
5 	53047-0410 	UART0-1,USB 	J2,J5-J7,J14 	Picoblade 4 pins 1.25mm straight header 	Molex Inc. 	- 	WM1733-ND 	 	
2 	53047-0710 	SPI1,AUX 	J4,J15 	Picoblade 7 pins 1.25mm straight header 	Molex Inc. 	- 	WM1736-ND 	 	
Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other
1 	CX5032GB12000H0PESZZ 	CX5032GB12000 	Q1 	CRYSTAL 12.0MHZ 12PF SMD 	AVX Corp. 	5.0x3.2mm 	478-4359-1-ND 	 	
== PCB and assembled boards suppliers ==
Hopefully, available soon on Get Hardware page :)
== Mechanical Dimensions ==
== Downloads ==
WARNING: THERE IS AN ERROR IN THESE GERBER FILES!
The footprint of the ITG3200 extends below the base of the IC. Because the IC has a metal baseplate, this causes a 0.025mm tolerance on placement of the ITG-3200 which is almost impossible to achieve. I an unable to correct the files because I don't have Protel.
Source files
:*download Umarim v1.0 Protel 99SE SP6 design (zipped Protel 99 ddb file)
Gerber & Drill files
:*download Umarim v1.0 gerber & drill files (zip)
Assembly files
:*download 
:*download Umarim v1.0 Bill Of Material (zipped .xls file)
== Paparazzi USB Bootloader Upload ==
=== Required components ===
:* 1 x FTDI TTL-232R-3V3 (Digikey #768-1015-ND) USB to UART converter cable with +3.3V TTL level UART signals. (see Note 1)
:* 2 x 4-pin connector housing Molex Picoblade 51021-0400 (Digikey #WM1722-ND)
:* 5 x crimp terminal female Molex Picoblade 50058-8000 (Digikey #WM1775CT-ND)
:* 1 x 6-pin 0.1" pitch single in line male connector header Samtec TSW-132-07-TS (Digikey #SAM1035-32-ND) or equivalent
:* 28-32AWG wiring cable
:Note1: It is advised to use FTDI USB-serial converter, as serial FTDI chips are by default working well in Linux.
:The Paparazzi ground station software is configured to look for modems on FTDI ports by default.
:This harness can also serve as a modem interface (after it's use in Bootloader uploading) if you plug it on Umarim's UART1 connector
=== Connection Diagram ===
Make up a wiring harness similar to the following
=== Boot Sequence ===
Category:Autopilots