Booz/Autopilot

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Bill Of Material

Qty Schematic part name Value Description Package Manufacturer Manufacturer part # Digikey Mouser
Resistors
1 R9 1.8k RES 1.80K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06031K80FKEA 541-1.80KHCT-ND 71-CRCW0603-1.8K-E3
1 R8 3.3kk RES 3.30K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06033K30FKEA 541-3.30KHCT-ND 71-CRCW0603-3.3K-E3
4 R7, R35, R36, R37 10k RES 10.0K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW060310K0FKEA 541-10.0KHCT-ND 71-CRCW0603-10K-E3
1 R6 12k RES 12.0K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW060312K0FKEA 541-12.0KHCT-ND 71-CRCW0603-12K-E3
1 R5 390R RES 390 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603390RFKEA 541-390HCT-ND 71-CRCW0603-390-E3
1 R3 3.9k RES 3.90K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06033K90FKEA 541-3.90KHCT-ND 71-CRCW0603-3.9K-E3
3 R25, R30, R47 200k RES 200K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603200KFKEA 541-200KHCT-ND 71-CRCW0603-200K-E3
8 R24, R26, R27, R31, R32, R41, R42, R48 0R RES 0.0 OHM 1/10W 0603 SMD 0603 (1608 Metric) Vishay CRCW06030000Z0EA 541-0.0GCT-ND 71-CRCW0603-0-E3
1 R21 680R RES 680 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603680RFKEA 541-680HCT-ND 71-CRCW0603-680-E3
1 R20 560R RES 560 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603348RFKEA 541-560HCT-ND 71-CRCW0603-560-E3
6 R2, R4, R13, R15, R16, R22 1k RES 1.00K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06031K00FKEA 541-1.00KHCT-ND 71-CRCW0603-1.0K-E3
1 R19 1.5k RES 1.50K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06031K50FKEA 541-1.50KHCT-ND 71-CRCW0603-1.5K-E3
2 R17,R18 33R RES 33.0 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay RES 33.0 OHM 1/10W 1% 0603 SMDΩ 541-33.0HCT-ND 71-CRCW060333R0FKEB
1 R14 348R RES 348 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603348RFKEA 541-348HCT-ND 71-CRCW0603-348-E3
2 R12,R23 100R RES 100 OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603100RFKEA 541-100HCT-ND 71-CRCW0603-100-E3
1 R11 120k RES 120K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW0603120KFKEA 541-120KHCT-ND 71-CRCW0603-120K-E3
1 R10 27k RES 27.0K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW060327K0FKEA 541-27.0KHCT-ND 71-CRCW0603-27K-E3
9 R1, R28, R29, R33, R34, R43, R44, R45, R46 4.7k RES 4.7K OHM 1/10W 1% 0603 SMD 0603 (1608 Metric) Vishay CRCW06034K70FKEA 541-4.70KHCT-ND 71-CRCW0603-4.7K-E3
Capacitors
1 C1 100uF CAP TANT 100UF 20V 10% 2917 2917 (7343 Metric) AVX TAJD107K020RNJ 478-1724-1-ND 581-TAJD107K020R
1 C16 2.2uF CAP CER 2.2UF 10V 10% X7R 0603 0603 (1608 Metric) Murata GRM188R71A225KE15D 490-4520-1-ND none
1 C17 22uF CAP TANT 22UF 10V 10% 1206 1206 (3216 Metric) TANTAMOUNT TR3A226K010C1000 718-1304-1-ND 74-TR3A226K010C1000
1 C18 4.7uF CAP CER 4.7UF 10V 10% X7R 0805 0805 (2012 Metric) Taiyo Yuden LMK212B7475KG 587-1442-1-ND none
1 C19 10nF/10000pF CAP CER 10000PF 16V 10% X7R 0603 0603 (1608 Metric) Panasonic ECJ-1VB1C103K PCC1750CT-ND none
22 C2, C4, C5, C9, C10, C11, C12, C13, C14, C15, C20, C21, C22, C23, C26, C27, C30, C33, C35, C36, C37, C39 100nF/.1uF CAP CER 0.1UF 50V 10% X7R 0603 0603 (1608 Metric) Kemet C0603C104K5RACTU 399-5089-1-ND 80-C0603C104K5R
2 C24,C34 1.5uF CAP CER 1.5UF 10V 10% X5R 0805 0805 (2012 Metric) Kemet C0805C155K8PACTU 399-3121-1-ND 80-C0805C155K8P
1 C25 33nF CAP CER 0.033UF 16V 5% 0805 0805 (2012 Metric) Taiyo Yuden EMK212SD333JD 587-1125-1-ND 963-EMK212SD333JD-T
1 C3 220uF CAP TANT 220UF 10V 20% 2917 2917 (7343 Metric) AVX TAJD227M010RNJ 478-3929-1-ND 581-TAJD227M010R
3 C6,C38,C40 33uF CAP TANT 33UF 6.3V 20% 1206 1206 (3216 Metric) Kemet T520A336M006ATE070 399-4719-1-ND 80-T520A336M6ATE70
4 C7,C8,C28,C29 18pF CAP CER 18PF 50V 5% NP0 0603 0603 (1608 Metric) Kemet C0603C180J5GACTU 399-1052-1-ND 80-C0603C180J5G
ICs
1 Q1 DDTA143 TRANS PREBIAS PNP 200MW SOT23-3 TO-236-3, SC-59, SOT-23-3 Diodes Inc. DDTA143ZCA-7-F DDTA143ZCA-FDICT-ND NS
1 IC1 24AA128ST 24AA128ST foo foo foo foo foo
3 LT_2C,LT_I2C1,U$11 PCA9306DP Translation - Voltage Levels DUAL I2C/SMBUS VOLT TRANSL TO-236-3, SC-59, SOT-23-3 NXP Semiconductors. PCA9306DP,118 568-4214-1-ND 771-PCA9306DP-T
2 LED3, LED4 AMBR LED AMBER S TYPE LOW CUR SMD 2-SMD, Gull Wing Panasonic LN1471SYTR P517CT-ND NA
1 LED2 RED LED RED S-GW TYPE SMD 2-SMD, Gull Wing Panasonic LN1271RALTRP P11505CT-ND NA
1 LED1 GRN LED GREEN S TYPE LOW CUR SMD 2-SMD, Gull Wing Panasonic LN1371SGTR P516CT-ND NA
1 IMU 12pin CONN HEADER 12POS 1.25MM STR TIN foo Molex 53047-1210 WM1741-ND 538-53047-1210
5 MC1,MC2,MC3,MC4,PS 2pin CONN HEADER 2POS 1.25MM STR TIN foo Molex 53261-0271 WM7620CT-ND 538-53261-0271
2 GPS, SPI_0 8pin CONN HEADER 8POS 1.25MM STR TIN foo Molex 53261-0271 WM7626CT-ND 538-53261-0871
1 CAM 7pin CONN HEADER 7POS 1.25MM STR TIN foo Molex 0532610771 WM7625CT-ND 538-53261-0771
1 UART1 5pin CONN HEADER 5POS 1.25MM STR TIN foo Molex 53261-0571 WM7623CT-ND 538-53261-0571
1 UART0 6pin CONN HEADER 6POS 1.25MM STR TIN foo Molex 53261-0671 WM7624CT-ND 538-53261-0671
1 RC 3pin CONN HEADER 3POS 1.25MM STR TIN foo Molex 0532610371 WM7621CT-ND 538-53261-0371
1 USB 3pin CONN RECEPT MINI USB2.0 5POS foo Hirose UX60-MB-5ST H2959CT-ND 798-UX60-MB-5ST


Building Tips

Since the Booz uses the same LPC2148 as the Tiny and TWOG autopilots and runs the same core code the documented steps are nearly the same for booz. Below more Booz specific tests are given. However after assembly you load the bootloader in the same way to enable programming via the USB interface.

Assembly Tips

  • Assembly Notes (IMPORTANT: Some DNP 0R)
  • Expected voltages for newly created boards

Loading the USB Boot Loader

This is virtually the same steps as for all other LPC2148 based Paparazzi autopilots. Just the cable is different. Using UART0/serial to load the image.

Create an adapter cable that has Tx/Rx and Ground along with the ability to hold P0.14 low (i.e. grounded). My cable has P0.14 pin connected to ground as I have found P0.14 should be held low during the entire upload process. See the Eagle Schematic for the pinouts on the GPS connector you will use to upload (same connector as the Tiny/TWOG). NOTE: You can not use the same cable as the Tiny/TWOG.

Steps:

  1. Connect the "USB to FTDI cable" (#1 above) TTL ends to 8-pin Picoblade to FTDI board cable
  2. Connect the USB end to your Linux laptop (/var/log/messages should show a new device on /dev/ttyUSB0).
  3. Connect 8-pin adapter cable to "GPS" 8-pin Pico-Female on Booz Main "GPS" labeled connector
  4. Using common ground" set BOOT (P0.14) "low" and keep it held low (on GPS connector)
  5. Power on (~5v to 12v current limited power supply suggested)
  6. Enter this command in a terminal:
    make upload_bl PROC=GENERIC

NOTE: Success will mean you see this at the end in the terminal:

Synchronizing. OK
Read bootcode version: 2.12.0
Read part ID: LPC2148, 512 kiB ROM / 40 kiB SRAM (67305253)
Sector 0: .................................................. .............................................
Sector 1: .................................................. .........................
Download Finished... taking 6 seconds
Now launching the brand new code
ioctl get failed
ioctl set ok, status = 0
ioctl get ok, status = 2
ioctl get ok, status = 2
ioctl set ok, status = 2
ioctl set ok, status = 0
ioctl set ok, status = 0

What you need to see is the "Download Finished" message. Now you can remove Jumper and FTDI cable. From now on all programming is loaded using USB Adapter cable

USB Programming

Once the USB boot code is loaded (see above) you now program the autopilot via USB. To enable the LPC2148 to wait for programming on the USB interface you must power the board while the USB is connected to the ground station computer. When properly wired P0.21 will be fed 5v from the USB interface and at boot time that tells the LPC2148 to wait for programming over USB. Once programmed the board will rest itself and run the programming (even if you leave the cable attached).

Steps

  1. Connect the USB cable from the computer to the Booz Main USB connector
  2. Power on the Booz Main board
  3. On the Linux (computer) side dmesg should show you a new detected USB device
  4. In Paparazzi Center click "Upload" and wait for the ####### message to show the code is being uploaded.

That's it.