Tiny/v2.11

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Tiny v2.11 3D top view (18mm GPS antenna)

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

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

Tiny v2 Architecture.png

Pinout

Pins Name and Type are specified with respect to the Autopilot Board

Tiny v2-1 pinout.png


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

Tiny v2.11 Schematic



PCB

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

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
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
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
1 MLF2012DR47K 0.47uH L1 SMD Inductor TDK 0805 445-1043-1-ND
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
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
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
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)
ANA1580T18D4 Emtac 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

Gerber & Drill files

Assembly files


Programming

Example wiring for programming and telemetry

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.

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