NavGo v3

Autopilots
__TOC__
== Hardware Revision History ==
Version #	Release Date	Release Notes
v3 	07/2012 	Minor PCB modifications
v2 	11/2011 	Barometer redesign
v1 	08/2011 	Initial release of NavGo
== 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 Triple axis Magnetometer (Honeywell HMC5883L)
* 1 x Digital Baro-altimeter (Freescale MPXA6115 pressure sensor + Microchip MCP3550-60 22bits ADC)
* 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)
* 2 x General Purpose I/O or Analog input channels (0V - 3.3V)
* 5v / 1.5A switching power supply (input voltage range 5.5V min → 16.0v max)
* 3.3v / 1A linear regulator
* 4 x status LEDs
* ?? grams (?,? oz)
* 35 x 35mm (1.38" x 1.38")
* 4 layers PCB design
Image:NavGo_v3_3D_bottom.png|NavGo v3 3D bottom view
Image:NavGo_v3_3D_top.png|NavGo v3 3D top view
Image:NavGo_v3_top_side.png|NavGo v3 top side
Image:NavGo_v3_bottom_side.png|NavGo v3 bottom side
File:NavGoV302.jpg|NavGo v3 Assembled
== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board
R/C
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V 	PWR 	3.3V Rail from autopilot 	Red
3 	+5v 	PWR 	5V Rail from autopilot 	Orange
4 	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 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	CSE 	I/O 	External Chip Select output or General Purpose I/O digital (P1.19) (Note 3)	Brown
5 	SCK1 	I/O 	SPI1 Serial clock. Clock output from master or input to slave 	Yellow
6 	MISO1	I/O 	SPI1 Master In Slave Out. Data input to master / data output from slave 	Green
7 	MOSI1	I/O 	SPI1 Master Out Slave In. Data output from master / data input to slave 	Grey
UART0
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
3 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	RX0 	IN 	UART0 Serial Input (3.3V level, 5V Tolerant)	Green
5 	TX0 	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 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	RX1 	IN 	UART1 Serial Input (3.3V level, 5V Tolerant)	Green
5 	TX1 	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 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	VBAT 	PWR 	+V Battery Rail (Note 1)	Yellow
5 	SDA0 	Open Drain I/O	I2C0 bus Serial DAta 	Brown
6 	SCL0 	Open Drain I/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 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	SCL1 	Open Drain I/O	I2C1 bus Serial CLock 	Blue
5 	SDA1BOOT	Open Drain I/O	I2C1 bus Serial DAtaIn-Circuit Serial Programming (ISP) enable (P0.14, +3.3V pullup) (Note 2)	Brown
AUX1
Pin #	Name	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+5V 	PWR 	5V Rail from autopilot 	Orange
3 	AUX1	I/O 	General Purpose I/O digital (P0.7/SSEL0/PWM2/EINT2) (Note 3)	
AUX2
Pin #	Name 	Type	Description 	Color
1 	GND 	PWR 	common ground 	Black
2 	+3.3V	PWR 	3.3V Rail from autopilot 	Red
3 	+5V 	PWR 	5V Rail from autopilot 	Orange
4 	AUX2 	I/O 	General Purpose I/O digital (P0.21/PWM5/CAP1.3) or ADC Input (AD1.6) (Note 3)	
:*Note 1: Can be used as alternate battery connection (source or sink).
:*Note 2: Holding this pin low for at least 3ms after a RESET (or power up) instructs the controller to enter programming mode.
:*Note 3: see LPC2148 documentation for detailed pin function description.
== Schematic ==
== Example of Airborne Equipment Electrical Connections ==
== PCB ==
=== Gerber & Drill Files ===
PCB design Eurocircuits 6-C class compliant:
Download NavGo v3 gerber & drill files (zip)
RS274X, units = Inches, format = 2:5
:*Navgo_v3_Silkscreen_Top.GBR (Top Component Print Layer)
:*Navgo_v3_Soldermask_Top.GBR (Top Solder Mask)
:*Navgo_v3_Paste_Mask_Top.GBR (Top Paste Mask)
:*Navgo_v3_Signal_Top.GBR (Top Copper Layer)
:*Navgo_v3_Internal_Plane_1.GBR (Internal Copper Layer Gnd)
:*Navgo_v3_Internal_Plane_2.GBR (Internal Copper Layer +3.3v)
:*Navgo_v3_Signal_Bottom.GBR (Bottom Copper Layer)
:*Navgo_v3_Paste_Mask_Bottom.GBR (Bottom Paste Mask)
:*Navgo_v3_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*Navgo_v3_Outline.GBR (Board Outline)
:*Navgo_v3_Drill.GBR (NC XY Coordinates & Drill Tools Sizes)
== Assembly ==
===Components Layout===
Image:NavGo_v3_2D_bottom.png|NavGo v3 bottom components Layout
Image:NavGo_v3_2D_top.png|NavGo v3 top components Layout
Image:NavGo_v3_bottom_components.png|NavGo v3 bottom components detail
Image:NavGo_v3_top_components.png|NavGo v3 top components detail
=== Bill Of Material ===
Download NavGo v3 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 	R19,R20 	33.0 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P33.0HCT-ND 	 	
1 	ERJ-3EKF1000V 	100R 	R12 	100 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P100HCT-ND 	 	
4 	ERJ-3EKF3900V 	390R 	R6 to R9 	390 Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P390HCT-ND 	 	
1 	ERJ-3EKF1501V 	1.5K 	R18 	1.50K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P1.50KHCT-ND 	 	
6 	ERJ-3EKF1801V 	1.8K 	R10,R11,R14 to R17 	1.80K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P1.80KHCT-ND 	 	
3 	ERJ-3EKF3301V 	3.3K 	R3 to R5 	3.30K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P3.30KHCT-ND 	 	
2 	ERJ-3EKF1002V 	10K 	R13,R21 	10.0K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P10.0KHCT-ND 	 	
1 	ERJ-3EKF1502V 	15k 	R2 	15.0K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P15.0KHCT-ND 	 	
1 	ERJ-3EKF4702V 	47k 	R1 	47.0K Ohm 1/10W 1% 	Panasonic - ECG 	0603 	P47.0KHCT-ND 	 	
Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors 	Capacitors
2 	C1608C0G1H180J 	18p 	C28,C29 	Ceramic 18pF 50V COG 5% 	TDK Corp. 	0603 	445-1272-1-ND 	 	
1 	C1608C0G1H470J 	47p 	C13 	Ceramic 47pF 50V COG 5% 	TDK Corp. 	0603 	445-1277-1-ND 	 	
1 	C1608X7R1H222K 	2.2n/50V 	C27 	Ceramic 2.2nF 50V X7R 10% 	TDK Corp. 	0603 	445-1309-1-ND 	 	
2 	C1608C0G1H103J 	10n 	C3,C26 	Ceramic 10nF 50V COG 5% 	TDK Corp. 	0603 	445-7404-1-ND 	 	
16 	CC0603KRX7R8BB104 	100n 	C5 to C12,C16 to C23	Ceramic 0.1uF 25V X7R 10% 	Yageo 	0603 	311-1341-1-ND 	 	
1 	C1608X7R1E224K 	220n 	C30 	Ceramic 0.22uF 25V X7R 10% 	TDK Corp. 	0603 	445-5191-1-ND 	 	
3 	C1608X5R1E105K 	1u/25V/X5R 	C1,C2,C25 	Ceramic 1.0uF 25V X5R 10% 	TDK Corp. 	0603 	445-5146-1-ND 	 	
1 	C1608X5R0J475M/0.80 	4.7u 	C31 	Ceramic 4.7uF 6.3V X5R 20% 	TDK Corp. 	0603 	445-1417-1-ND 	 	
1 	C1608X5R0J106M 	10u/6.3V 	C4 	Ceramic 10uF 6.3V X5R 20% 	TDK Corp. 	0603 	445-4112-1-ND 	 	
2 	TAJA336K006RNJ 	33u/6.3v 	C15,C24 	Tantalum 33uF 6.3V 10% 	AVX Corp. 	A case (EIA 3216-18)	478-1666-1-ND 	 	
1 	TR3D107K020C0080 	100u/20V 	C14 	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 	LP2985-50DBVR 	LP2985-50 	IC1 	5v/150mA low-noise low-dropout regulator 	Texas Instruments 	SOT23-5 	296-20717-1-ND 	 	
1 	MPXH6115AC6U 	MPXH6115AC6U 	IC2 	Integrated Silicon Pressure Sensor 	Freescale Semicond. 	1317A-03 	MPXH6115AC6U-ND 	 	
1 	MCP3550-60E/MS 	MCP3550-60-E-MS 	IC3 	Low-Power 22-Bit Delta-Sigma ADC 	Microchip Technology	MSOP8 	MCP3550-60E/MS-ND 	 	
1 	SN74LVC2T45DCU 	SN74LVC2T45DCU 	IC4 	Dual-Bit Dual-Supply Bus Transceiver 	Texas Instruments 	VSSOP8 	296-17014-1-ND 	 	
1 	TPS62112RSAT 	TPS62112 	IC5 	17V, 1.5-A, Synchronous Step-Down Converter 	Texas Instruments 	QFN16 	296-19717-1-ND 	 	
1 	LM3940IMP-3.3/NOPB 	LM3940IMP-3.3 	IC6 	1A low dropout regulator for 5V to 3.3V conversion	National Semicond. 	SOT223 	LM3940IMP-3.3CT-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 	HMC5883L 	HMC5883L 	IC10 	Three-Axis Digital Compass 	Honeywell 	LCC16 	342-1082-1-ND 	 	
1 	APT1608SURCK 	KP-1608SURC 	LED1 	SMD Chip Red LED Lamp 	Kingbright Corp. 	0603 	754-1123-1-ND 	 	
1 	APT1608SECK 	KP-1608SEC 	LED2 	SMD Chip Orange LED Lamp 	Kingbright Corp. 	0603 	754-1120-1-ND 	 	
1 	APT1608MGC 	KP-1608MGC 	LED3 	SMD Chip Green LED Lamp 	Kingbright Corp. 	0603 	754-1118-1-ND 	 	
1 	APT1608SYCK 	KP-1608SYC 	LED4 	SMD Chip Yellow LED Lamp 	Kingbright Corp. 	0603 	754-1124-1-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
1 	53048-0310 	AUX1 	J8 	1.25mm Pitch Wire-to-Board 3pin Header 	Molex Inc. 	- 	WM1743-ND 	 	
2 	53048-0410 	RC,AUX2 	J2,J9 	1.25mm Pitch Wire-to-Board 4pin Header 	Molex Inc. 	- 	WM1744-ND 	 	
3 	53048-0510 	UART0,UART1,I2C1 	J4,J5,J7 	1.25mm Pitch Wire-to-Board 5pin Header 	Molex Inc. 	- 	WM1745-ND 	 	
1 	53048-0610 	I2C0 	J6 	1.25mm Pitch Wire-to-Board 6pin Header 	Molex Inc. 	- 	WM1746-ND 	 	
1 	53048-0710 	SPI1 	J3 	1.25mm Pitch Wire-to-Board 7pin Header 	Molex Inc. 	- 	WM1747-ND 	 	
1 	47346-0001 	USB 	J10 	Micro-USB B receptacle 	Molex Inc. 	- 	WM17141CT-ND 	 	
Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other 	Other
1 	7M-12.000MAAJ 	7M-12.000 	Q1 	Crystal 12.000MHZ 18pF 	TXC Corp. 	3.2x2.5mm/4pin 	887-1121-1-ND 	 	
== PCB and assembled boards suppliers ==
Check availability on Get Hardware page
== Design source files ==
:*download NavGo v3 Protel 99SE SP6 design (zipped Protel 99 ddb file)
== Mechanical Dimensions ==
== 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