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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]
1
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 2way 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!
2
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
3
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
4
PRODUCT FEATURES/OBJECTIVES
During specification, a series of requirements were placed to ensure adequate and safe operation of the craft.
1.
2.
3.
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 ElectronicSpeed-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.
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.
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.
5
FLIGHT CONTROL BOARD OVERVIEW
CORE COMPONENTS
1.
2.
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 onboard digital storage devices to the FPGA.
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 ElectronicSpeed-Controllers for the motors to regulate speed.
POSITION SENSORS
1.
2.
3.
4.
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.
Gyroscope – This sensor delivers the approximate rotation of the craft in degrees per second. This
th
measurement is taken every 1/100 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.
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.
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.
6
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.
2.
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.
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.
2.
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.
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.
7
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.
8
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.
2.
3.
4.
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.
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-ofsight.
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.
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
9
1.
2.
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.
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.
10
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
11
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 8bit 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
EP2C8T144C8N
TCM8230MD
TCM8230MD
EP2C8T144C8N
XBEE Pro S1
Manufacturer
Altera
Toshiba
Toshiba
Altera
Digi International
Description
Cyclone II FPGA
640x480 Camera Module
640x480 Camera Module
Cyclone II FPGA
Long-Range Wireless
12
PIC32MX795F512L
Copernicus
EPCS16SI8N
SD Card
RF-2400W
S25FL128P
HMC5883L
RHT03
SST26VF032
MCP2200
HC-06
MMA8452Q
L3G4200D
MPL115A1
DS1085
HC-SR04
Microchip
Trimble
Altera
EgoChina
Inhaos
Spansion
Honeywell
Maxdetect
Silicon Storage Technologies
Microchip
Itead Studio
Freescale Semiconductors
STMicroelectronics
Freescale Semiconductors
Maxim Semiconductors
Itead Studio
32bit PIC Processor
GPS Module
16MB FPGA Configuration SRAM
SD Card
Short Range Wireless
128MB 104MHz Flash Memory
Magnetometer
Humidity Sensor
32MB Serial Quad I/O Flash
USB -> USART
SMD Bluetooth Module
Accelerometer
Gyroscope
Pressure Sensor
Programmable Clock Synthesizer
Ultrasonic Ranger
13
DIVISION OF LABOR
GANTT CHART
14
APPENDIX
APPENDIX A – OVERVIEW OF THE FLIGHT CONTROL BOARD
USB
USB
ICSP
PROG
UART_1
UART Line
UART_2
UART Line
UART_5
UART Line
Long-Range Comm
Xbee Pro S1
SPI_1
B-NMEA
I2C_1
A-TSIP
GPS
Trimble 58048
1-Wire
SPI Bus
I2C Bus
Navigator
Microchip PIC32
PIC32MX795F512L
Stabilizer
Cyclone II FPGA
EP2C8T144C8N
SPI Bus
SPI_2
Parallel
Parallel
(8-Bit)
MicroSD Card
TransFlash 2GB
1-Wire Bus
Serial 128MB SRAM
Spansion S25FL128P
Barometric Sensor
Freescale MPL115A1
3-Axis Gyroscope
ST L3G4200D
3-Axis Magnetometer
Honeywell HMC5883L
FPGA Clock Synthesizer
Dallas DS1085Z
3-Axis Accelerometer
Freescale MMA8452Q
Temperature/Humidity
MaxDetect RHT03
Ad-Flier – Flight Control Board
Connections Overview
Rev 1.2 – 3/28/2012
15
3-Axis Accelerometer
Freescale MMA8452
Serial SRAM
FPGA Config
Spansion 128MB Flash
EPCS4SI8N 16MB
SPI
ISP
The Ad-Flier!
Team Sky Lights
--Flight Control Board
I2C
PWM
3-Axis Gyroscope
ST Micro L3G4200D
Stabilizer
Altera Cyclone II
EP2C8T144C8N
Parallel
GPS Navigation
Trimble 58048-20
USART
3-Axis Magnetometer
Honeywell HMC5883L
2
Temperature/Humidity
MaxDetect RHT03
IC
Motor
Controller 2
Motor
Controller 3
Motor
Controller 4
Programmable Clock
Synthesizer DS1085
SPI
SPI
IC
2
PWM
PWM
Parallel I/O Bus
Flight/Landing Camera
Toshiba SEN-08667
I2C / SPI
PWM
Motor
Controller 1
MicroSD Card
TransFlash 2GB
Serial SRAM
SST 32MB
Navigator
Microchip PIC32
PIC32MX795F512L
SPI
Barometric Sensor
Freescale MPL115A1
USART
Power Requirements
+3.3 VDC
Ultrasonic Rangefinder
iTead Studio HC-SR04
+5.0 VDC
Long-Range Comm
Xbee Pro S1
+3.3 / +1.2 VDC
+2.8 / +1.5 V
16
APPENDIX B – OVERVIEW OF THE BASE STATION BOARD
USB
ICSP
USB
PROG
UART_1
UART Line
UART_2
UART Line
UART_5
UART Line
SPI_1
Long-Range Comm
Xbee Pro S1
Jumper
Select
SPI_2
B-NMEA
A-TSIP
GPS
Trimble 37824
SPI Bus
Navigator
Microchip PIC32
PIC32MX795F512L
SPI Bus
Serial Bluetooth
BT03 SMD Module
Barometric Sensor
Freescale MPL115A1
MicroSD Card
TransFlash 2GB
PS2 Controller
Standard Wireless Remote
Ad-Flier – BaseStation Board
Connections Overview
Rev 1.2 – 3/28/2012
17
The Ad-Flier!
Team Sky Lights
--Base Station Board
Long-Range Comm
Xbee Pro S1
USART
GPS Navigation
Trimble 58048-20
Barometric &
Temperature Sensor
Freescale MPL115A1
USART
MicroSD Card
TransFlash 2GB
SPI
SPI
SPI
Serial SRAM
SST 32MB
Base Station
Microchip PIC32
PIC32MX460F512L
Parallel
USART
USART
Bluetooth Serial
Serial Bluetooth Module
High Speed USB Serial
Microchip
Wireless Manual Control
User’s Computer
Power Requirements
+3.3 VDC
+5.0 VDC
18
1
2
3S Lipo Battery
A
PIC3801
COC38
C38
PIC3602
0.1uF
COD1
D1
COHeader9
Header9
VDD
GND
PIC3601
4
Power Input, Selection, and Monitoring
SYS
PIC3802
3
COC36
C36
1.0uF
PIC3701
PIC3702
PIHeader90L
PIHeader90R
MBRS540T3G
Battery Conn
COH1
H1
GND
COC37
C37
10uF
VCC
GND
SYS
PID100
PID101
PIH10VCC
COD3
D3
PID300
PID301
NLSysPowMonitor
SysPowMonitor
COR19
R19
PIR1902
3.9K
Power Rails:
PIR1901
PIR20 2
PIR20 1
PIH10GND
MBRS540T3G
COR20
R20
1.3K
PID201
PID20
+5.0V
+3.3V
+2.8V
+1.5V
+1.2V
COD2
D2
1SMAS913BT3G
DC Jack
Rated: 3000mA
Rated: 3000mA
Rated: 150mA
Rated: 150mA
Rated: 3000mA
A
GND
GND
GND
5.0 -> 2.8 & 1.5 VDC
Battery -> 5.0 VDC
COREG1
REG1
MIC5330-MFYML
+5.0V
B
PIC4301
PIC4302
MIC29300-5.0WU
PIREG200
VIN
GND
+6 to +11.7 VDC
PIREG100
SYS
COC43
C43
0.1uF
PIREG102
+5.0V
VOUT
+5.0V
PIREG202
PIC4101
PIC4102
PIC3901
+5.0 VDC
COC41
C41
10uF
PIC3902
PIC40 2
COC39
C39
1.0uF
PIC40 1
COC40
C40
0.1uF
PIREG104
PIREG103
PIREG101
PIREG201
B
VIN
BYP
VOUT1
+2.8V
+2.8V
PIREG107
GND VOUT2
+1.5V
+1.5V
PIREG106
EN1
EN2
PIC4 01
PIC4 02
MIC5330-MFYML
GND
PIC4201
PIC4202
COC42
C42
1.0uF
COC44
C44
1.0uF
COREG2
REG2
GND
5.0 -> 1.2 VDC
C
Battery -> 3.3 VDC
+5.0V
COC45
C45
PIC4502 PIC4501
1.0uF
PIC4902
MIC29300-3.3WU
PIREG400
VIN
COC49
C49
PIC4901
0.1uF
GND
SYS
VOUT
+3.3V
+3.3V
PIREG402
PIC4701
PIC4702
PIC4801
COC47
C47
10uF
PIC4802
PIREG303
VIN
PIREG301
VBIAS
PIREG300
EN
COC48
C48
1.0uF
PIREG401
+1.2V
PIREG304
PIC4601
PIC4602
COC46
C46
10uF
PIREG302
GND
GND
R21
COR21
PIR2102
VOUT
+1.2V
COREG3
REG3
COREG4
REG4
COLED3
LED3
+3.3V
MIC49300-1.2WU
GND
C
PIR2101
PILED301
PILED302
1K
Title
D
D
GND
Size
Number
Revision
A
Date:
File:
1
2
3
4/10/2012
C:\Users\..\Power.SchDoc
Sheet 1of
Drawn By:
4
1
2
3
4
COIC7
IC7
NLVBUS
VBUS
55
+3.3V
PIIC7055
COC30
C30
A
GND
54
PIIC7054
85
PIC3002 PIC3001
PIIC7085
10uF PIIC702
2
+3.3V
16
PIIC7016
37
PIIC7037
46
PIIC7046
COR16
R16 PIIC7062
62
10
86
PIIC7086
30
PIIC7030
PIR1602
PIR1601
15
PIIC7015
36
PICCOC31
31C31
01
45
PIIC7045
65
PIIC7065
0.1uF PIIC7075
75
31
PIIC7031
PIIC7036
PIC3102
B
GND
MCLR
TMS/RA0
TCK/RA1
SCL2/RA2
SDA2/RA3
TDI/RA4
TDO/RA5
TRCLK/RA6
TRD3/RA7
VREF-/CVREF-/AERXD2/PMA7/RA9
VREF+/CVREF+/AERXD3/PMA6/RA10
AETXCLK/SCL1/INT3/RA14
AETXEN/SDA1/INT4/RA15
VBUS
VUSB
VCAP/VDDCORE
VDD
VDD
VDD
VDD
VDD
VDD
AVDD
VSS
VSS
VSS
VSS
VSS
AVSS
PGED1/AN0/CN2/RB0
PGEC1/AN1/CN3/RB1
AN2/C2IN-/CN4/RB2
AN3/C2IN+/CN5/RB3
AN4/C1IN-/CN6/RB4
AN5/C1IN+/VBUSON/CN7/RB5
PGEC2/AN6/OCFA/RB6
PGED2/AN7/RB7
AN8/C1OUT/RB8
AN9/C2OUT/RB9
AN10/CVREFOUT/PMA13/RB10
AN11/ERXERR/AETXERR/PMA12/RB11
AN12/ERXD0/AECRS/PMA11/RB12
AN13/ERXD1/AECOL/PMA10/RB13
AN14/ERXD2/AETXD3/PMALH/PMA1/RB14
AN15/ERXD3/AETXD2/OCFB/PMALL/PMA0/CN12/RB15
T2CK/RC1
T3CK/AC2TX/RC2
T4CK/AC2RX/RC3
T5CK/SDI1/RC4
OSC1/CLKI/RC12
SOSCI/CN1/RC13
SOSCO/T1CK/CN0/RC14
OSC2/CLKO/RC15
C
NLFPGA0OK0OUT
FPGA_OK-OUT
NLFPGA0OK0IN
FPGA_OK-IN
87
88
PIIC7088
NLPIC0UART10RX
PIC_UART1_RX PIIC7052
52
51
PIIC7051
NLPIC0UART20RX
PIC_UART2_RX PIIC7049
49
NLPIC0UART20TX
PIC_UART2_TX PIIC7050
50
NLPIC0UART10TX
PIC_UART1_TX PIIC7053
53
NLPIC0UART50RX
PIC_UART5_RX PIIC7040
40
NLPIC0UART50TX
PIC_UART5_TX PIIC7039
39
D
PIIC7087
90
PIIC7090
89
PIIC7089
NLUSB0PIC0P
USB_PIC_P
57
PIIC7057
NLUSB0PIC0N
USB_PIC_N
56
PIIC7056
NLPIC0SPI20SCLK
PIC_SPI2_SCLK PIIC7010
10
NLPIC0SPI20SDI
PIC_SPI2_SDI
11
PIIC7011
NLPIC0SPI20SD0
PIC_SPI2_SD0 PIIC7012
12
14
PIIC7014
96
PIIC7096
97
PIIC7097
95
PIIC7095
1
PIIC701
SDO1/OC1/INT0/RD0
OC2/RD1
OC3/RD2
OC4/RD3
OC5/PMWR/CN13/RD4
C1RX/ETXD1/PMD11/RF0
PMRD/CN14/RD5
C1TX/ETXD0/PMD10/RF1
ETXEN/PMD14/CN15/RD6
SDA1A/SDI1A/U1ARX/RF2
ETXCLK/PMD15/CN16/RD7
USBID/RF3
RTCC/EMDIO/IC1/RD8
SDA3A/SDI3A/U3ARX/PMA9/CN17/RF4
SS1/IC2/RD9
SCL3A/SDO3A/U3ATX/PMA8/CN18/RF5 SCK1/IC3/PMCS2/PMA15/RD10
SCL1A/SDO1A/U1ATX/RF8
EMDC/IC4/PMCS1/PMA14/RD11
AC1RX/SS3A/U3BRX/U3ACTS/RF12
ETXD2/IC5/PMD12/RD12
AC1TX/SCK3A/U3BTX/U3ARTS/RF13
ETXD3/PMD13/CN19/RD13
AETXD0/SS1A/U1BRX/U1ACTS/CN20/RD14
C2RX/PMD8/RG0
AETXD1/SCK1A/U1BTX/U1ARTS/CN21/RD15
C2TX/ETXERR/PMD9/RG1
D+/RG2
PMD0/RE0
D-/RG3
PMD1/RE1
ECOL/SCK2A/U2BTX/U2ARTS/PMA5/CN8/RG6
PMD2/RE2
ECRS/SDA2A/SDI2A/U2ARX/PMA4/CN9/RG7
PMD3/RE3
ERXDV/SCL2A/SDO2A/U2ATX/PMA3/CN10/RG8
PMD4/RE4
ERXCLK/SS2A/U2BRX/U2ACTS/PMA2/CN11/RG9
PMD5/RE5
TRD1/RG12
PMD6/RE6
TRD0/RG13
PMD7/RE7
TRD2/RG14
AERXD0/INT1/RE8
AERXERR/RG15
AERXD1/INT2/RE9
PIC32MX795F512L-80I/PT
1
17
38
58
PIIC7058
59
PIIC7059
60
PIIC7060
61
PIIC7061
91
PIIC7091
92
PIIC7092
28
PIIC7028
29
PIIC7029
66
PIIC7066
67
PIIC7067
NLMagNet0DRDY
MagNet_DRDY
NLBarometer00SHDN
Barometer_/SHDN
NLPIC0SRAM00WP
PIC_SRAM_/WP
NLGPS0PPS
GPS_PPS
NLGPS0XSTBY
GPS_XSTBY
NLGPS0XRST
GPS_XRST
NLXBEE0Associate
XBEE_Associate
NLXBEE00DTR
XBEE_/DTR
NLXBEE00Reset
XBEE_/Reset
NLHumidity0I0O
Humidity_I/O
NLPIC0I2C10SCL
PIC_I2C1_SCL
NLPIC0I2C10SDA
PIC_I2C1_SDA
25
PIIC7025
NLICSP0PGD
ICSP_PGD
NLICSP0PGC
ICSP_PGC
NLSysPowMonitor
SysPowMonitor
PIIC7017
PIIC7038
24
23
PIIC7023
22
PIIC7022
21
PIIC7021
20
PIIC7020
26
PIIC7026
27
PIIC7027
32
PIIC7032
33
PIIC7033
34
PIIC7034
35
PIIC7035
41
PIIC7041
42
PIIC7042
43
PIIC7043
44
PIIC7044
PIIC7024
+3.3V
PICCOC24
2C24
401 PIC2C25
5COC25
01 PIC2COC26
601 PICCOC27
2C27
701 PIC2C28
8COC28
01 PIC2COC29
901
C26
C29
PIC20.1uF
402 PIC20.1uF
502 PIC20.1uF
602 PIC20.1uF
702 PIC20.1uF
802 PIC20.1uF
902
+3.3V
PIR1702
B
COC32
C32
NLOSC1
OSC1
PIX10
NLPIC0SPI10SDI
PIC_SPI1_SDI
OSC1
SOSCI
SOSCO
OSC2
93
94
98
PIIC7098
99
PIIC7099
100
PIIC70100
3
PIIC703
4
PIIC704
5
PIIC705
18
PIIC7018
19
PIIC7019
NLFPGA0D0
FPGA_D0
NLFPGA0D1
FPGA_D1
NLFPGA0D2
FPGA_D2
NLFPGA0D3
FPGA_D3
NLFPGA0D4
FPGA_D4
NLFPGA0D5
FPGA_D5
FPGA_D6
NLFPGA0D6
NLFPGA0D7
FPGA_D7
NLFPGA0A00D
FPGA_A-/D
NLFPGA0R00W
FPGA_R-/W
PIIC7094
NLOSC2
OSC2
PIC3202 PIC3201
22pF
COX1
X1
PIX10
GND
COC33
C33
PIC3302 PIC3301
C
22pF
COC34
C34
NLSOSCI
SOSCI
PIX20
NLPIC0UART100CTS
PIC_UART1_/CTS
NLPIC0UART100RTS
PIC_UART1_/RTS
Notes:
- VCAP is a 6V 1-Ohm Tantalum Capacitor
PIC3402 PIC3401
22pF
COX2
X2
PIX201
NLSOSCO
SOSCO
GND
COC35
C35
PIC3502 PIC3501
22pF
Title
Size
D
Number
Revision
A
Date:
File:
2
PIR1802
COR18
R18
100
NLICSP0MCLR
ICSP_MCLR
GND
NLPIC0SPI10SDO
PIC_SPI1_SDO
NLBarometer00CS
Barometer_/CS
NLuSD00CS
uSD_/CS
NLPIC0SRAM00CS
PIC_SRAM_/CS
NLPIC0FPGASelect
PIC_FPGASelect
NLPIC0Gyro00CS
PIC_Gyro_/CS
NLPIC0Gyro0DRDY
PIC_Gyro_DRDY
NLPIC0Gyro0INT1
PIC_Gyro_INT1
NLPIC0Accel0INT2
PIC_Accel_INT2
NLPIC0Accel0INT1
PIC_Accel_INT1
NLPIC0SPI10SCLK
PIC_SPI1_SCLK
PIIC7093
PIR1801
PIS501
72
76
77
PIIC7077
78
PIIC7078
81
PIIC7081
82
PIIC7082
83
PIIC7083
84
PIIC7084
68
PIIC7068
69
PIIC7069
70
PIIC7070
71
PIIC7071
79
PIIC7079
80
PIIC7080
47
PIIC7047
48
PIIC7048
PIIC7076
COR17
R17
10K
COS5
S5
PIIC707
PIIC7072
PIR1701
PIS502
NLMCLR
MCLR
6
PIIC706
7
8
PIIC708
9
PIIC709
63
PIIC7063
73
PIIC7073
74
PIIC7074
64
PIIC7064
A
GND
8MHz
13
PIIC7013
32.768KHz
MCLR
3
4/10/2012
C:\Users\..\Navigator_Core.SchDoc
Sheet of
Drawn By:
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1
2
3
4
PIC SPI-1 Interface (PIC Peripherals)
A
NLPIC0SPI10SCLK
PIC_SPI1_SCLK
NLuSD0SCLK
uSD_SCLK
NLPIC0SPI10SDI
PIC_SPI1_SDI
NLuSD0SDO
uSD_SDO
NLPIC0SPI10SDO
PIC_SPI1_SDO
NLuSD0SDI
uSD_SDI
NLPIC0SRAM0SCK
PIC_SRAM_SCK
NLBarometer0SCLK
Barometer_SCLK
NLPIC0Gyro0SPC
PIC_Gyro_SPC
NLPIC0SRAM0SO
PIC_SRAM_SO NLPIC0SRAM0SI
PIC_SRAM_SI
NLBarometer0DOUT
Barometer_DOUT NLBarometer0DIN
Barometer_DIN
NLPIC0Gyro0SDO
PIC_Gyro_SDO NLPIC0Gyro0SDI
PIC_Gyro_SDI
PIC32 USB Interface
In-Circuit Serial Programming Interface
GND
+3.3V
COR13
R13
PIC SPI-2 Interface (PIC-FPGA Connection)
PIR1305
NLVBUS
VBUS
NLPIC0SPI20SCLK
PIC_SPI2_SCLK
NLPIC0SPI20SDI
PIC_SPI2_SDI
NLPIC0SPI20SD0
PIC_SPI2_SD0
NLPIC0SCLK
PIC_SCLK
NLPIC0MISO
PIC_MISO
NLPIC0MOSI
PIC_MOSI
PIR1306
PIR1307
PIR1308
A
B
C
D
PIC2302
PIR1301
PIR1302
PIC2301
PIR1303
NLPIC0I2C10SDA
PIC_I2C1_SDA
NLMagnet0SDA
Magnet_SDA
NLDS10850SDA
DS1085_SDA
NLPIC0Accel0SDA
PIC_Accel_SDA
COC23
C23
0.1uF
PIR1304
COModule6
Module6
Value: 10K SMD Resistor
Array
PIModule604
VCC
Value: 10K
PIModule603 DPIModule602 D+
NLUSB0PIC0N
USB_PIC_N
PIModule600 GND
PIModule601 ID
NLUSB0PIC0P
USB_PIC_P
Mini-USB
PIC I2C-1 Interface
NLPIC0I2C10SCL
PIC_I2C1_SCL
NLMagnet0SCL
Magnet_SCL
NLDS10850SCL
DS1085_SCL
NLPIC0Accel0SCL
PIC_Accel_SCL
A
B
C
D
A
COHeader
Header 88
+3.3V NLICSP0MCLR
ICSP_MCLR PIHeader 801
1
PIHeader 802 2
PIHeader 803 3
PIHeader 804 4
NLICSP0PGD
COR14
ICSP_PGD
R14
PIR1402
PIR1401
PIHeader 805 5
100
PIHeader 806 6
NLICSP0PGC
COR15
ICSP_PGCPIR1502
R15
PIR1501
100
ICSP
GND
GND
GND
B
B
PIC UART-2/5 Interface (Trimble GPS Module)
NLPIC0UART20RX
PIC_UART2_RX
NLPIC0UART20TX
PIC_UART2_TX
NLGPS0TXB
GPS_TXB
NLGPS0RXB
GPS_RXB
NLPIC0UART50RX
PIC_UART5_RX
NLGPS0TXA
GPS_TXA
NLPIC0UART50TX
PIC_UART5_TX
NLGPS0RXA
GPS_RXA
Communication Debug Headers
CODebug1
Debug1
4
3
2
1
PIC UART-1 Interface (XBee Pro)
NLPIC0UART100CTS
PIC_UART1_/CTS
NLXBEE00RTS
XBEE_/RTS
NLPIC0UART100RTS
PIC_UART1_/RTS
NLXBEE00CTS
XBEE_/CTS
NLPIC0UART10RX
PIC_UART1_RX
NLXBEE0DOUT
XBEE_DOUT
NLPIC0UART10TX
PIC_UART1_TX
NLXBEE0DIN
XBEE_DIN
CODebug2
Debug2
PIDebug104PIC_SPI1_SCLK
3
2
1
PIC_SPI1_SDI
PIC_SPI1_SDO
PIDebug102
PIDebug103
PIDebug101
SPI1
CODebug3
Debug3
PIDebug203PIC_I2C1_SCL
PIC_I2C1_SDA
PIDebug202
PIDebug201
I2C1
PIDebug303PIC_UART1_TX
PIC_UART1_RX
PIDebug302
PIDebug301
UART1
GND
GND
GND
CODebug4
Debug4
C
3
2
1
4
3
2
1
PIC Control Lines
CODebug5
Debug5
PIC_SPI2_SCLK
PIC_SPI2_SDI
PIDebug403
PIC_SPI2_SD0
PIDebug402
3
2
1
PIDebug404
PIDebug401
PIC_UART2_TX
PIC_UART2_RX
PIDebug503
C
PIDebug502
PIDebug501
UART2
SPI2
GND
GND
NLHumidity0I0O
Humidity_I/O
NLMagNet0DRDY
MagNet_DRDY
D
CODebug6
Debug6
3
2
1
NLPIC0FPGASelect
PIC_FPGASelect
NLBarometer00CS
Barometer_/CS
NLBarometer00SHDN
Barometer_/SHDN
NLuSD00CS
uSD_/CS
NLPIC0SRAM00WP
PIC_SRAM_/WP
NLPIC0SRAM00CS
PIC_SRAM_/CS
NLGPS0PPS
GPS_PPS
NLGPS0XSTBY
GPS_XSTBY
NLGPS0XRST
GPS_XRST
NLXBEE0Associate
XBEE_Associate
NLXBEE00DTR
XBEE_/DTR
XBEE_/Reset
NLXBEE00Reset
PIC_UART5_TX
PIC_UART5_RX
PIDebug603
PIDebug602
PIDebug601
UART5
GND
Title
Size
D
Number
Revision
A
Date:
File:
1
2
Text
3
4/10/2012
Sheet of
C:\Users\..\Navigator_Connectors.SchDoc Drawn By:
4
1
38.4Kbps TSIP / 4.8Kbps NMEA Interface
GPS_PPS
GPS_XSTBY
GPS_XRST
GPS Module
+3.3V
R8
R9
PIC1201
XRST
XSTBY
PPS
PIModule201
VCC
SHORT
R2
BOOT
PIModule207
RX-A
NLGPS0TXA
GPS_TXA
PIModule2016 TX-A
NLGPS0RXB
GPS_RXB
PIModule2013 RX-B
NLGPS0TXB
GPS_TXB
PIModule2017 TX-B
PIModule208
PIModule200
PIModule202
GND
LNA
OPEN
PIModule2010
PIModule2011
PIIC403
COC13
C13
0.1uF
/CS
/SHDN
SCLK
DIN
DOUT
GND
PIModule2018
PIModule2019
PIIC500
COC14
C14
PIC1401 PIC1402
COC16
C16
PIIC501
PIIC502
1.0uF
A
PIC1601 PIC1602
GND
1.0uF
NLBarometer00CS
PIIC504Barometer_/CS
NLBarometer00SHDN
Barometer_/SHDN
PIIC503
NLBarometer0SCLK
PIIC507Barometer_SCLK
NLBarometer0DIN
Barometer_DIN
PIIC506
NLBarometer0DOUT
Barometer_DOUT
PIIC505
MPL115A1
+3.3v
MicroSD Card
PIModule203
PIModule204
25MHz SPI Interface
COModule3
Module3
+3.3V
PIModule205
COC15PIC1502
PIModule303
PIC1501
PIModule307
GND
0.1uF
PIModule300
PIModule305
57.6 Kbps Serial Interface
VDD
/CS
NC
SDI
NC
SDO
VSS SCLK
NLuSD00CS
uSD_/CS
NLuSD0SDI
PIModule301
PIModule302uSD_SDI
NLuSD0SDO
uSD_SDO
NLuSD0SCLK
uSD_SCLK
PIModule306
PIModule304
MicroSD Socket
GND
B
B
COModule4
Module4
NLXBEE0DOUT
1
XBEE_DOUT
DOUT PIModule401 NLXBEE0DIN
2
XBEE_DIN
DIN PIModule402
AD4
AD3
AD2
AD1
ASSOCIATE
AD0
/DTR
VREF
/RTS
ON//SLEEP
/CTS
NC
/RESET
DO8
PWM1
VCC
PWM0
GND
14
PIModule4014
8
PIModule408
NLXBEE0Associate
XBEE_Associate
NLXBEE00DTR
XBEE_/DTR
Test Connections
NLXBEE00RTS
15
XBEE_/RTS
NLXBEE00CTS
11
XBEE_/CTS
PIModule4011
NLXBEE00Reset
4
XBEE_/Reset
PIModule404
Humidity Sensor
PIModule4015
0
9
PIModule409
PIModule400
NLHumidty0IO
+3.3v
XBee Pro S1
+3.3v
PIC1801
PIC1802
GND
COC18
C18
1.0uF
PIC1902
PIC1901
1-Wire Interface
+3.3V
Humidity_I/O
10
PIModule4010
16
PIModule4016
17
PIModule4017
18
PIModule4018
19
PIModule4019
13
PIModule4013
12
PIModule4012
7
PIModule407
3
PIModule403
6
PIModule406
5
PIModule405
C
VDD
CAP
GND
S25FL128P
PIModule2015
Copernicus II DIP Module
XBee Module
+3.3V
Digital Barometer
PIC1301
PIC1302
8MHz SPI Interface
COIC5
IC5
PIIC407
PIIC406
4
Barometric Sensor
+3.3V
128MB SRAM
NLPIC0SRAM00WP
PIC_SRAM_/WP
PIIC402 WP#/ACC
VCC
NLPIC0SRAM00CS
PIC_SRAM_/CS
PIIC400 CS#
HOLD#
NLPIC0SRAM0SCK
PIC_SRAM_SCK
PIIC405 SCK
NLPIC0SRAM0SI
PIC_SRAM_SI
PIIC404 SI
NLPIC0SRAM0SO
PIC_SRAM_SO
PIIC401 SO
GND
GND
R1
R3
R4
R5
R6
R7
NLGPS0RXA
GPS_RXA
PIModule2014
10K
10K
PIC1202
C15
PIModule2012
+3.3v
104/40MHz SPI Interface
COIC4
IC4
0.1uF
PIModule209
PIR801 PIR901
Serial SRAM
COModule2
Module2
PIModule206
COR8PIRCOR9
802 PIR902
3
COC12
C12
NLGPS0PSNLGPS0XTBYNLGPS0XRT
A
2
GND
+3.3V
COModule5
Module5
PIR10 2
COR10
R10
PIR10 1
1K
PIModule501
DATA
+3.3V
VDD
PIModule500
PIC1701
NC
GND
PIModule502
PIC1702
PIModule503
VDD
2
PIHeader102 VDD_IO
NLPIC0Gyro00CS
PIC_Gyro_/CS
19
PIHeader1019 CS
NLPIC0Gyro0SPC
PIC_Gyro_SPC
20
PIHeader1020
COC17
C17
NLPIC0Gyro0SDI
PIC_Gyro_SDI
21
PIHeader1021
NLPIC0Gyro0SDO
PIC_Gyro_SDO
22
PIHeader1022
NLPIC0Gyro0DRDY
PIC_Gyro_DRDY
15
PIHeader1015
NLPIC0Gyro0INT1
PIC_Gyro_INT1
23
PIHeader1023
14
PIHeader1014
13
PIHeader1013
GND
0.1uF
RHT03
COC19
C19
COHeader1
Header1
1
PIHeader101
GND
8.2pF
SCL
SDA
SDO
DRDY
T1
T2
GND
C
L3G4200D Header
+3.3V
Three-Axis Magnetometer
400KHz I2C Interface
COIC6
IC6
COC20
C20
GND
PIC2002 PIC2001
PIIC609
C1
4.7uF
PIIC602
PIIC6013
+3.3V
D
PIC2101
PIC2102
PIIC606
PIIC605
PIIC604
COC21
C21
0.1uF
PIIC608
PIIC6010
NC
NC
NC
NC
NC
GND
GND
HMC5883L
GND
1
NLPIC0Accel0SDA
PIC_Accel_SDA
PIHeader202 2
NLPIC0Accel0SCL
PIC_Accel_SCL
PIHeader203
+3.3V
3-Axis Magnetometer
PIR1 02
PIIC601
SCL
SDA
DRDY
PIIC600
SETP
PIIC607
SETC
PIIC6011
PIC2201 PIC2202
COR11
R11
PIIC6012
PIIC603
PIR1 01
3
NLPIC0Accel0INT2
PIC_Accel_INT2
PIHeader204 4
NLPIC0Accel0INT1
PIC_Accel_INT1
PIHeader205 5
PIHeader206 6
GND
PIR1202
VDD
VDDIO
S1
2.2K
COR12
R12
PIR1201
2.2K
Header 6
NLMagnet0SCL
Magnet_SCL
NLMagnet0SDA
Magnet_SDA
NLMagNet0DRDY
MagNet_DRDY
PIIC6015
PIIC6014
Title
COC22
C22
220nF
Size
GND
D
Number
Revision
A
Date:
File:
1
COHeader2
Header2
PIHeader201
2
3
4/10/2012
Sheet of
C:\Users\..\Navigator_Components.SchDoc Drawn By:
4
1
COFPGA1D
FPGA1D
+3.3V
IO, (ASDO)
IO, (nCSO)
IO, LVDS15p (CRC_ERROR)
IO, LVDS15n (CLKUSR)
IO, VREFB1N0
IO, LVDS8p, (DPCLK0/DQS0L)
IO, LVDS8n
IO, LVDS7p, (DPCLK1/DQS1L)
IO, LVDS7n
IO, VREFB1N1
IO
IO, PLL1_OUTp
IO, PLL1_OUTn
NLASDO
1
ASDO
NLnCSO
2
nCSO
PIFPGA102
NLP3
3
PIFPGA103P3
NLP4
4
P4
PIFPGA104
NLP7
7
P7
PIFPGA107
NLP8
8
P8
PIFPGA108
NLP9
9
P9
PIFPGA109
24 NLP24
P24
PIFPGA1024
25 NLP25
P25
PIFPGA1025
28 NLP28
P28
PIFPGA1028
NLP30
30
P30
PIFPGA1030
NLP31
31
P31
PIFPGA1031
NLP32
32
P32
PIFPGA1032
PIFPGA101
NLCONFSwitch01
CONFSwitch_1
NLCONFSwitch02
CONFSwitch_2
NLCONFSwitch03
CONFSwitch_3
NLCONFSwitch04
CONFSwitch_4
NLCONFSwitch05
CONFSwitch_5
NLCONFSwitch06
CONFSwitch_6
NLCONFSwitch07
CONFSwitch_7
NLTLED0Orange1
TLED_Orange1
NLTLED0Orange2
TLED_Orange2
NLFUltrasonic0TRIGGER
FUltrasonic_TRIGGER
NLFUltrasonic0EDGE
FUltrasonic_EDGE
EP2C8T144C8N
COFPGA1B
FPGA1B
+3.3V
BANK 2
IO, LVDS37n
IO, LVDS37p
IO, LVDS36n
IO, LVDS36p
IO, LVDS34n
IO, LVDS34p, (DPCLK8/DQS0T)
IO, VREFB2N0
IO, LVDS33n
IO, LVDS33p
IO, LVDS29n, DQ1T0
IO, LVDS29p, DQ1T1
IO, LVDS26p, DQ1T2
IO, VREFB2N1
IO, LVDS23n, DQ1T3
IO, LVDS23p, DQ1T4
IO, LVDS19n, DQ1T5
IO, LVDS19p, (DPCLK10/DQS1T)
IO, LVDS18n, DQ1T6
IO, LVDS18p, DQ1T7
IO, LVDS17p, DQ1T8
IO, LVDS17n (DEV_CLRn)
IO, LVDS16p, (DM1T/BWS#1T)
IO, LVDS16n
B
112 NLP112
P112
113 NLP113
P113
PIFPGA10113
114 NLP114
P114
PIFPGA10114
115 NLP115
P115
PIFPGA10115
118 NLP118
P118
PIFPGA10118
NLP119
119 P119
PIFPGA10119
NLP120
120 P120
PIFPGA10120
121 NLP121
P121
PIFPGA10121
122 NLP122
P122
PIFPGA10122
125 NLP125
P125
PIFPGA10125
126 NLP126
P126
PIFPGA10126
129 NLP129
P129
PIFPGA10129
132 NLP132
P132
PIFPGA10132
133 NLP133
P133
PIFPGA10133
134 NLP134
P134
PIFPGA10134
135 NLP135
P135
PIFPGA10135
NLP136
136 P136
PIFPGA10136
NLP137
137 P137
PIFPGA10137
139 NLP139
P139
PIFPGA10139
141 NLP141
P141
PIFPGA10141
142 NLP142
P142
PIFPGA10142
143 NLP143
P143
PIFPGA10143
144 NLP144
P144
PIFPGA10144
PIFPGA10112
NLFPGA0D0
FPGA_D0
NLFPGA0D1
FPGA_D1
NLFPGA0D2
FPGA_D2
NLFPGA0D3
FPGA_D3
NLFPGA0D4
FPGA_D4
NLFPGA0D5
FPGA_D5
NLFPGA0D6
FPGA_D6
NLFPGA0D7
FPGA_D7
NLFPGA0A00D
FPGA_A-/D
NLFPGA0R00W
FPGA_R-/W
NLFPGA0OK0OUT
FPGA_OK-OUT
NLFPGA0OK0IN
FPGA_OK-IN
NLPIC0SCLK
PIC_SCLK
NLPIC0MOSI
PIC_MOSI
NLPIC0MISO
PIC_MISO
NLPIC0FPGASelect
PIC_FPGASelect
BANK 3
D
73 NLP73
P73
74 NLP74
P74
NLP75
75
P75
PIFPGA1075
76
PIFPGA1076
79 NLP79
P79
PIFPGA1079
86 NLP86
P86
PIFPGA1086
87 NLP87
P87
PIFPGA1087
92 NLP92
P92
PIFPGA1092
93 NLP93
P93
PIFPGA1093
94 NLP94
P94
PIFPGA1094
96 NLP96
P96
PIFPGA1096
97 NLP97
P97
PIFPGA1097
NLP99
99
P99
PIFPGA1099
NLP100
100
P100
PIFPGA10100
NLP101
101
P101
PIFPGA10101
103 NLP103
P103
PIFPGA10103
104 NLP104
P104
PIFPGA10104
PIFPGA1074
FPGA Power Connections
40 NLP40
P40
41 NLP41
P41
PIFPGA1041
NLP42
42
PIFPGA1042P42
NLP43
43
P43
PIFPGA1043
44 NLP44
P44
PIFPGA1044
45 NLP45
P45
PIFPGA1045
47 NLP47
P47
PIFPGA1047
48 NLP48
P48
PIFPGA1048
51 NLP51
P51
PIFPGA1051
52 NLP52
P52
PIFPGA1052
NLP53
53
P53
PIFPGA1053
NLP55
55
P55
PIFPGA1055
NLP57
57
P57
PIFPGA1057
NLP58
58
P58
PIFPGA1058
NLP59
59
P59
PIFPGA1059
60 NLP60
P60
PIFPGA1060
63 NLP63
P63
PIFPGA1063
64 NLP64
P64
PIFPGA1064
65 NLP65
P65
PIFPGA1065
67 NLP67
P67
PIFPGA1067
69 NLP69
P69
PIFPGA1069
70 NLP70
P70
PIFPGA1070
NLP71
71
P71
PIFPGA1071
NLP72
72
P72
PIFPGA1072
NLFPGA0SPI0Clock
FPGA_SPI_Clock
NLFPGA0SPI0DataIn
FPGA_SPI_DataIn
PIFPGA1040
NLFPGA0SPI0DataOut
FPGA_SPI_DataOut
NLFPGA0I2C0Clock
FPGA_I2C_Clock
NLFPGA0I2C0Data
FPGA_I2C_Data
NLFPGA0SPI00GyroCS
FPGA_SPI_/GyroCS
NLGyro0DRDY
Gyro_DRDY
NLGyro0INT1
Gyro_INT1
NLFPGA0SPI00SRAMCS
FPGA_SPI_/SRAMCS
NLFPGASRAM00WP
FPGASRAM_/WP
NLAccel0SA0
Accel_SA0
NLAccel0INT1
Accel_INT1
NLAccel0INT2
Accel_INT2
GND
+1.2V
COFPGA1H
FPGA1H
37
PIFPGA1037
VCCA_PLL1
35
PIFPGA1035
VCCD_PLL1
109
107
PIFPGA10109
PIFPGA10107
NLBUltrasonic0TRIGGER
BUltrasonic_TRIGGER
NLBUltrasonic0EDGE
BUltrasonic_EDGE
NLBLED0Orange1
BLED_Orange1
NLBLED0Orange2
BLED_Orange2
NLBLED0Orange3
BLED_Orange3
NLBLED0Orange4
BLED_Orange4
NLBLED0Blue1
BLED_Blue1
NLBLED0Blue2
BLED_Blue2
NLBLED0Blue3
BLED_Blue3
NLBLED0Blue4
BLED_Blue4
VCCA_PLL2
VCCD_PLL2
A
38
GNDA_PLL1 PIFPGA1038
36
GND_PLL1 PIFPGA1036
34
GND_PLL1 PIFPGA1034
GNDA_PLL2
GND_PLL2
GND_PLL2
PIFPGA10108
EP2C8T144C8N
+1.2V
+3.3V
COFPGA1F
FPGA1F
5
PIFPGA105
VCCIO1
23
VCCIO1
29
PIFPGA1029 VCCIO1
PIFPGA1023
116
VCCIO2
127
VCCIO2
138
PIFPGA10138 VCCIO2
PIFPGA10116
PIFPGA10127
VCCINT
VCCINT
VCCINT
VCCINT
VCCINT
VCCINT
26
PIFPGA1026
50
62
81
PIFPGA1081
124
PIFPGA10124
131
PIFPGA10131
PIFPGA1050
PIFPGA1062
B
77
VCCIO3
95
VCCIO3
102
PIFPGA10102 VCCIO3
PIFPGA1077
Bottom PCB Bus
+3.3V
GND
PIFPGA1054
COHeader7
Header7
1
3
PIHeader705 5
PIHeader707 7
PIHeader709 9
NLCamera0SCL
Camera_SCL PIHeader7011
11
NLCamera0SDA
Camera_SDAPIHeader7013
13
NLCamera0RESET
Camera_RESET
PIHeader7015 15
NLCamera0EXTCLK
Camera_EXTCLK
PIHeader7017 17
NLCamera0HD
Camera_HD PIHeader7019
19
NLCamera0VD
Camera_VD PIHeader7021
21
NLCamera0DCLK
Camera_DCLK
PIHeader7023 23
NLCamera0DOUT0
Camera_DOUT0
PIHeader7025 25
NLCamera0DOUT1
Camera_DOUT1
PIHeader7027 27
NLCamera0DOUT2
Camera_DOUT2
PIHeader7029 29
NLCamera0DOUT3
Camera_DOUT3
PIHeader7031 31
NLCamera0DOUT4
Camera_DOUT4
PIHeader7033 33
NLCamera0DOUT5
Camera_DOUT5
PIHeader7035 35
NLCamera0DOUT6
Camera_DOUT6
PIHeader7037 37
NLCamera0DOUT7
Camera_DOUT7
PIHeader7039 39
PIHeader701
PIHeader703
NLMotor0W1
Motor_W1
NLMotor0W2
Motor_W2
NLMotor0W3
Motor_W3
NLMotor0W4
Motor_W4
Camera_SCL
Camera_SDA
Camera_RESET
Camera_EXTCLK
Camera_HD
Camera_VD
Camera_DCLK
Camera_DOUT0
Camera_DOUT1
Camera_DOUT2
Camera_DOUT3
Camera_DOUT4
Camera_DOUT5
Camera_DOUT6
Camera_DOUT7
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
46
VCCIO4
54
VCCIO4
66
PIFPGA1066
VCCIO4
PIFPGA1046
PIHeader702
PIHeader704
PIHeader706
PIHeader708
PIHeader7010
+1.2V
+1.5V
+2.8V
+3.3V
+5.0V
EP2C8T144C8N
COFPGA1G
FPGA1G
6
GND GND
19
PIFPGA1019 GND GND
27
PIFPGA1027 GND GND
33
PIFPGA1033 GND
GND
39
PIFPGA1039 GND GND
49
PIFPGA1049 GND
GND
56
PIFPGA1056 GND
GND
61
PIFPGA1061 GND GND
68
PIFPGA1068 GND
GND
78
PIFPGA1078 GND
PIFPGA106
PIHeader7012
BUltrasonic_TRIGGER
BUltrasonic_EDGE
PIHeader7014
PIHeader7016
PIHeader7018
PIHeader7020
PIHeader7022
PIHeader7024
BLED_Orange1
BLED_Orange2
BLED_Orange3
PIHeader7030
BLED_Orange4
PIHeader7032
BLED_Blue1
PIHeader7034
BLED_Blue2
PIHeader7036
BLED_Blue3
PIHeader7038
BLED_Blue4
PIHeader7040
PIHeader7026
PIHeader7028
80
98
105
PIFPGA10105
111
PIFPGA10111
117
PIFPGA10117
123
PIFPGA10123
128
PIFPGA10128
130
PIFPGA10130
140
PIFPGA10140
PIFPGA1080
PIFPGA1098
C
EP2C8T144C8N
GND
GND
Header 20X2H
Title
D
EP2C8T144C8N
Size
Number
Revision
A
Date:
File:
1
110
108
106
PIFPGA10106
PIFPGA10110
PIFPGA1095
+2.8V
PIFPGA1073
+3.3V
IO, LVDS77n (DEV_OE)
IO, LVDS77p, (DM1B/BWS#1B)
IO, LVDS76p, DQ1B8
IO, LVDS76n, DQ1B7
IO, LVDS75p, DQ1B6
IO, LVDS75n, DQ1B5
IO, LVDS74p, (DPCLK2/DQS1B)
IO, LVDS74n
IO, VREFB4N1
IO, LVDS70p, DQ1B4
IO, LVDS68p, DQ1B3
IO, LVDS68n, DQ1B2
IO, LVDS67p, DQ1B1
IO, LVDS67n, DQ1B0
IO, LVDS66p
IO, LVDS66n
IO, VREFB4N0
IO, LVDS60p, (DPCLK4/DQS0B)
IO, LVDS60n
IO, LVDS59n
IO, LVDS58p
IO, LVDS58n
IO, LVDS57p
IO, LVDS57n
+2.8V
EP2C8T144C8N
IO, LVDS56n, (DM1R/BWS#1R)
IO, LVDS56p, DQ1R8
IO, LVDS54n (INIT_DONE)
IO, LVDS54p (nCEO)
IO, VREFB3N1
IO, LVDS48n, DQ1R7
IO, LVDS48p, (DPCLK6/DQS1R)
IO, LVDS47n, DQ1R6
IO, LVDS47p, (DPCLK7/DQS0R)
IO, LVDS46n, DQ1R5
IO, LVDS46p, DQ1R4
IO, LVDS45n, DQ1R3
IO, VREFB3N0
IO, LVDS39n, DQ1R2
IO, LVDS39p, DQ1R1
IO, PLL2_OUTp, DQ1R0
IO, PLL2_OUTn
4
EP2C8T144C8N
C
COFPGA1C
FPGA1C
3
BANK 4
A
BANK 1
COFPGA1A
FPGA1A
2
2
3
4/10/2012
C:\Users\..\FPGA_Core.SchDoc
Sheet of
Drawn By:
4
1
2
3
4
FPGA Clock Connections
FPGA JTAG Configuration Headers
COFPGA1I
FPGA1I
GND
A
COJEPC
JEPC
DCLK
PIJEPC01 1
2
CONF_DONE
PIJEPC03 3
4
nCONFIG PIJEPC05
5
6
DATAO PIJEPC07
7
8
ASDO
PIJEPC09 9
10
GND
88
PIFPGA1088
COBB
BB
PIJEPC06
TCK
TDO
TMS
PIJEPC010
TDI
PIJEPC02
+3.3V
PIJEPC04
nCE
PIJEPC08nCSO
PIBB01
PIBB03
PIBB05
PIBB07
PIBB09
Header 5X2
89
90
PIFPGA1090
NLClock0Synth01
Clock_Synth_1 PIFPGA1091
91
22
PIFPGA1022
NLClock0Synth00
Clock_Synth_0 PIFPGA1021
21
18
PIFPGA1018
25MHz_Clock PIFPGA1017
17
PIFPGA1089
1
3
5
7
9
2
4
6
8
10
PIBB02
+3.3V
PIBB04
PIBB06
PIBB08
PIBB010
Header 5X2
GND
GND
CLK7, LVDSCLK3n INPUT
CLK6, LVDSCLK3p INPUT
CLK5, LVDSCLK2n INPUT
CLK4, LVDSCLK2p INPUT
CLK3, LVDSCLK1n INPUT
CLK2, LVDSCLK1p INPUT
CLK1, LVDSCLK0n INPUT
CLK0, LVDSCLK0p INPUT
25.175MHz Master Clock
+3.3V
COX3
X3
PIX303
PIX300
VDD OUT
OE
GND
NL25MHz0Clock
25MHz_Clock
A
PIX302
PIX301
SE2838CT-ND
EP2C8T144C8N
GND
FPGA Configuration Memory
FPGA Bypass Capacitors
FPGA Configuration Connections
+1.2V
+2.8V
+3.3V
+3.3V
COIC8
IC8
+3.3V
NLnCSO
nCSOPIIC800
nCS
NLASDO
ASDO
PIIC804 ASDI
NLDATAO
DATAO
PIIC801 DATA
NLDCLK
DCLK
PIIC805 DCLK
COFPGA1E
FPGA1E
B
COC56
0.1uF
C56
PIC5601 PIC5602
COC57
0.1uF
C57
PIC5701 PIC5702
COC58
0.1uF
C58
PIC5801 PIC5802
COC59
0.1uF
C59
PIC5901 PIC5902
COC60
0.1uF
C60
PIC6001 PIC6002
COC61
0.1uF
C61
PIC6101 PIC6102
COC62
0.1uF
C62
PIC6201 PIC6202
COC63
0.1uF
C63
PIC6301 PIC6302
COC65
0.1uF
C65
PIC6501 PIC6502
COC66
0.1uF
C66
PIC6601 PIC6602
COC69
C69
COC67
0.1uF
C67
PIC6701 PIC6702
COC68
0.1uF
C68
PIC6801 PIC6802
COC72
0.1uF
C72
PIC7201 PIC7202
COC73
C73
COC70
0.1uF
C70
PIC7001 PIC7002
PIC6901 PIC6902
COC71
0.1uF
C71
PIC7101 PIC7102
COC74
0.1uF
C74
PIC7401 PIC7402
1.0uF
COC75
0.1uF
C75
PIC7501 PIC7502
82
nSTATUS
20
nCONFIG PIFPGA1020
83
CONF_DONE PIFPGA1083
15
DCLK PIFPGA1015
PIFPGA1082
nCE
DATA0
1.0uF
TMS
TCK
TDO
TDI
PIC7701 PIC7702
1.0uF
GND
GND
GND
GND
14
PIFPGA1014
11
PIFPGA1011
12
10
13
PIFPGA1013
PIFPGA1012
PIFPGA1010
VCC
VCC
VCC
GND
PIIC802
PIIC807
PIIC806
PIIC803
EPCS16SI8N
COC64
C64
16
nCE
PIFPGA1016
+3.3V
PIC6401
B
GND
GND
PIC6402
0.1uF
84
MSEL1
MSEL1 PIFPGA1084
85
MSEL0
MSEL0 PIFPGA1085
PIC7301 PIC7302
COC76
0.1uF
C76
PIC7601 PIC7602
COC77
C77
nSTATUS
nCONFIG
CONF_DONE
DCLK
DATAO
FPGA Signal Conditioning
TMS
TCK
NLTDO
TDO
TDI
+3.3V
COR27
R27
PIR2705
PIR2706
PIR2707
EP2C8T144C8N
PIR2708
A
B
C
D
A
B
C
D
NLnCONFIG
nCONFIG
NLnSTATUS
nSTATUS
PIR2701
PIR2702
NLTMS
TMS
NLTDI
TDI
PIR2703
PIR2704
Value: 10K SMD Resistor Array
Value: 10K
COR28 CONF_DONE
R28
NLCONF0DONE
+5.0V
A
B
C
D
PIR2901
PIR2903
PIR2904
GND
PIIC903
DS1085
SDA
SCL
COR30
R30
PIJ502
COJ5
J5
Jumper
PIJ501
PIIC904
PIJ602
PIR3005
COJ6
J6
Jumper
PIR3006
PIR3007
PIR3008
PIJ601
PIIC905
GND
A
B
C
D
A
B
C
D
NLMSEL0
MSEL0
PIR3001
NLMSEL1
MSEL1
NLnCE
nCE
NLTCK
TCK
PIR3004
PIR3002
PIR3003
Value: 10K SMD Resistor Array
Value: 10K
NLDS10850SDA
DS1085_SDA
NLDS10850SCL
DS1085_SCL
PIIC906
PIIC907
IC9_10K_B
COC78
COC79
C78
C79
0.1uFPIC7901 10nF
VCC
GND
NLIC901KC NLIC901KD
IC9_10K_A
PIC7801
+5.0V
+5.0V
Value: 10K SMD Resistor Array
Value: 10K
COIC9
IC9
Clock_Synth_0
PIIC901 OUT0 CTRL0
Clock_Synth_1
PIIC900 OUT1 CTRL1
PIC7902
C
PIR2902
PIIC902
PIC7802
PIR2802
10K
IC9_10K_D
COR29
R29
IC9_10K_A
PIR2905 A
IC9_10K_B
PIR2906 B
IC9_10K_C
PIR2907 C
IC9_10K_D
PIR2908 D
D
PIR2801
FPGA Programmable Clock Synthesizer
IC9_10K_C
C
NLIC901KA NLIC901KB
Title
Size
GND
D
Number
Revision
A
Date:
File:
1
2
3
4/10/2012
C:\Users\..\FPGA_Clocks.SchDoc
Sheet of
Drawn By:
4
1
2
Gyroscope
3
10MHz SPI Interface
4
Accelerometer
2.25MHz I2C Interface
Three-Axis Gyroscope
Gyro_/CS
Gyro_SPC
Gyro_SDI
Gyro_SDO
A
PIIC104
PIIC101
PIIC102
PIIC103
CS
SPC
SDI
SDO
Vdd_IO
Vdd
Vdd
NLGyro0DRDY
Gyro_DRDY PIIC105
DRDY/INT2
NLGyro0INT1
Gyro_INT1 PIIC106
INT1
COR3
R3
PIR302
COC6
C6
470nF
COC7
C7
PIC701
0.1uF
PIR301
PIC602 PIC601
10K
PIC702
PIIC1013
PLLFILT
GND
GND
GND
GND
GND
GND
Accel_SDA
Accel_SCL
COIC1
IC1
+3.3V
PIIC100
PIIC1014
PIIC1015
PIC202
PIC201
COC2
C2
0.1uF
PIC101
PIC102
+3.3V
4.7K
PIR102
4.7K
PIR201
COC1
C1
10uF
COR1
R1
COR2
R2
PIR202
PIR101
COIC2
IC2
3-Axis Accelerometer
PIIC203
PIIC205
SCL
SDA
PIIC200
BYP
PIIC201
NLAccel0SA0
Accel_SA0
PIIC206 SA0
NLAccel0INT1
Accel_INT1
PIIC2010 INT1
NLAccel0INT2
Accel_INT2
PIIC208 INT2
PIIC1012
PIIC1011
PIIC1010
+3.3V
VDDIO
VDD
PIIC2013
PIC502
PIC501
PIIC109
PIIC108
PIIC202
PIIC107
PIIC2014
PIIC209
L3G4200D
PIIC2011
GND
NC
GND
GND
GND
GND
GND
GND
GND
PIC401
PIC402
PIC301
COC4
C4
0.1uF
PIC302
A
COC3
C3
4.7uF
COC5
C5
0.1uF
PIIC207
PIIC2015
PIIC2012
PIIC204
MMA8452Q
GND
GND
GND
FPGA Switches
Motor ESC Connectors
B
+3.3V
+3.3V
COJ1
J1
Data Bus Connections
COHeader3
Header3
NLMotor0W1
Motor_W1
PIHeader301
PIJ101
PIJ102
Jumper
PIHeader302
PIHeader303
1
2
3
COHeader4
Header4
W1
NLMotor0W2
Motor_W2
PIHeader501
PIJ202
Jumper
PIHeader502
PIHeader503
1
2
3
PIHeadr401 PIHeadr402 PIHeadr403
Motor_W4
COJ2
J2
PIJ201
1
2
3
COHeader5
Header5
NLMotr0W4
W2
GND
COHeader6
Header6
NLMotor0W3
Motor_W3
PIHeader601 1
PIJ401
PIJ402 PIHeader602 2
Jumper
PIHeader603 3
GND
NLGyro00CS
Gyro_/CS
NLGyro0SPC
Gyro_SPC
NLGyro0SDI
Gyro_SDI
NLGyro0SDO
Gyro_SDO
NLFPGA0SPI00SRAMCS
FPGA_SPI_/SRAMCS
NLFPGASRAM00CS
FPGASRAM_/CS
NLFPGA0SPI0Clock
FPGA_SPI_Clock
NLFPGA0SPI0DataIn
FPGA_SPI_DataIn
NLFPGA0SPI0DataOut
FPGA_SPI_DataOut
NLFPGASRAM0SCK
FPGASRAM_SCK
NLFPGASRAM0SI
FPGASRAM_SI
NLFPGASRAM0SO
FPGASRAM_SO
NLFPGA0I2C0Clock
FPGA_I2C_Clock
NLFPGA0I2C0Data
FPGA_I2C_Data
NLAccel0SCL
Accel_SCL
NLAccel0SDA
Accel_SDA
Jumper
Serial SRAM
PIR405
PIR406
PIR407
GND
PIR408
PIJ301
COIC3
IC3
128MB SRAM
GND
FPGASRAM_/CS
PIIC300
FPGASRAM_SCK
PIIC305
FPGASRAM_SI
PIIC304
FPGASRAM_SO
PIIC301
FPGA LED's
COLED1
LED1
WP#/ACC
CS#
SCK
SI
SO
+3.3V
VCC
HOLD#
A
B
C
D
PIR401
PIR402
PIR403
PIR404
GND
+3.3V
COS2
S2
COS3
S3
COS4
S4
PIS301
PIIC307
PIIC306
PIIC303
PIS201
PIC801
PIC802
PIS401
COC8
C8
0.1uF
S25FL128P
PIR506
GND
GND
COR6
R6
PIR602
PIR507
PIR508
O
4
PIS302
NLCONFSwitch07
CONFSwitch_7
PIS402
A
B
C
D
A
B
C
D
PIR501
PIR502
PIR503
PIR504
Value: 10K SMD Resistor Array
Value: 10K
Forward Ultrasonic Ranger
PILED104
C
NLCONFSwitch05
CONFSwitch_5
NLCONFSwitch06
CONFSwitch_6
PIS202
COR5
R5
PIR505
G
3
A
B
C
D
104/40MHz SPI Interface
NLFPGASRAM00WP
FPGASRAM_/WP
PIIC302
PILED103
NLCONFSwitch03
CONFSwitch_3
NLCONFSwitch04
CONFSwitch_4
SW-DIP4
COR4
R4
COJ3
J3
2 PIR601
1K
PILED102
NLCONFSwitch01
CONFSwitch_1
NLCONFSwitch02
CONFSwitch_2
8
PIS108
7
PIS107
6
PIS106
5
PIS105
Value: 10K SMD Resistor Array
Value: 10K
W3
NLTLED0Orange1
TLED_Orange1 PILED101
1
B
COS1
S1
1
PIS101
2
PIS102
3
PIS103
4
PIS104
PIJ302
COJ4
J4
C
W4
GND
NLFPGA0SPI00GyroCS
FPGA_SPI_/GyroCS
FPGA_SPI_Clock
FPGA_SPI_DataIn
FPGA_SPI_DataOut
LED PLCC-4
+5.0V
COLED2
LED2
G
NLTLED0Orange2
TLED_Orange2 PILED201
1
D
2 1K
PILED202
PIR701
COR7
R7
PIR702
O
3
PILED203
4
PILED204
GND
COModule1
Module1
FUltrasonic_TRIGGER
NLFUltrasonic0TRIGGER
PIModule101 Trigger
NLFUltrasonic0EDGE
FUltrasonic_EDGE
PIModule102 Edge
LED PLCC-4
VDD
VSS
PIModule100
PIC10 1
PIC10 2
PIC1 01
PIC1 02
COC10
C10
10uF
COC9
PIC9C9
02
PIC90.1uF
01
COC11
C11
1.0uF
PIModule103
Title
Size
HC-SR04 Ultrasonic Module
GND
2
Number
Revision
A
Date:
File:
1
D
3
4/10/2012
C:\Users\..\FPGA_Components.SchDoc
Sheet of
Drawn By:
4