<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 50%; overflow: hidden">[[Image:NavGo_v3_3D_bottom.png|right|350px|NavGo v3 bottom side]]</div>
<div style="float: right; width: 35%">__TOC__</div>


== Hardware Revision History ==

{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''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 [http://www.standardics.nxp.com/products/lpc2000/lpc214x LPC2148] MCU based
* 1 x Triple axis Digital Gyroscope (Invensense [http://invensense.com/mems/gyro/itg3200.html ITG-3200])
* 1 x Triple axis Digital Accelerometer (Analog Devices [http://www.analog.com/en/mems-sensors/inertial-sensors/adxl345/products/product.html ADXL345])
* 1 x Triple axis Magnetometer (Honeywell [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883L])
* 1 x Digital Baro-altimeter (Freescale [http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPXA6115A MPXA6115] pressure sensor + Microchip [http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en025693 MCP3550-60] 22bits ADC)
* 1 x R/C receiver PPM frame input
* 2 x UART (TTL 3.3V, 5V tolerant)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface 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 &rarr; 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

<gallery>
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
</gallery>

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

[[Image:NavGo_v3_pinout.png]]

{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''R/C'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|3||+5v||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||PPM_IN||IN||PPM Stream from R/C Receiver (5V tolerant)||style="background:white; color:black"|White
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||CSE||I/O||External Chip Select output or General Purpose I/O digital ''(P1.19) (Note 3)''||style="background:sienna; color:white"|Brown
|-
|5||SCK1||I/O||SPI1 Serial clock. Clock output from master or input to slave||style="background:Yellow; color:black"|Yellow
|-
|6||MISO1||I/O||SPI1 Master In Slave Out. Data input to master / data output from slave||style="background:Green; color:white"|Green
|-
|7||MOSI1||I/O||SPI1 Master Out Slave In. Data output from master / data input to slave||style="background:Grey; color:white"|Grey
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART0'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||RX0||IN||UART0 Serial Input (3.3V level, 5V Tolerant)||style="background:green; color:white"|Green
|-
|5||TX0||OUT||UART0 Serial Output (3.3V level)||style="background:blue; color:white"|Blue
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||RX1||IN||UART1 Serial Input (3.3V level, 5V Tolerant)||style="background:green; color:white"|Green
|-
|5||TX1||OUT||UART1 Serial Output (3.3V level)||style="background:blue; color:white"|Blue
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C0'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||VBAT||PWR||+V Battery Rail ''(Note 1)''||style="background:Yellow; color:black"|Yellow
|-
|5||SDA0||Open Drain I/O||I2C0 bus Serial DAta||style="background:sienna; color:white"|Brown
|-
|6||SCL0||Open Drain I/O||I2C0 bus Serial CLock||style="background:blue; color:white"|Blue
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||SCL1||Open Drain I/O||I2C1 bus Serial CLock||style="background:blue; color:white"|Blue
|-
|5||SDA1<br>BOOT||Open Drain I/O||I2C1 bus Serial DAta<br>In-Circuit Serial Programming (ISP) enable (P0.14, +3.3V pullup) ''(Note 2)''||style="background:sienna; color:white"|Brown
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3||AUX1||I/O||General Purpose I/O digital ''(P0.7/SSEL0/PWM2/EINT2) (Note 3)''||
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|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).''<br>
:*''Note 2: Holding this pin low for at least 3ms after a RESET (or power up) instructs the controller to enter programming mode.''<br>
:*''Note 3: see LPC2148 documentation for detailed pin function description.''<br>

== Schematic ==
[[Image:NavGo_v3_Schematic.png|left|900px|NavGo v3 Schematic]]
<br style="clear:both">

== Example of Airborne Equipment Electrical Connections ==

[[Image:NavGo_v3_rotorcraft_airborne_connection_diagram_1.png|left|900px|NavGo v3 rotorcraft airborne equipment electrical connections #1]]
<br style="clear:both">

== PCB ==

=== Gerber & Drill Files  ===

PCB design  [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:Gerbers_for_NavGo_v3.zip|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===

<gallery>
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
</gallery>

=== Bill Of Material ===

'''''[[Media:NavGo_v3_BOM.zip|Download NavGo v3 Bill of Material (zipped .xls file)]]'''''
<br>
<br>

<small><small>
{|border="1" cellspacing="0" style="text-align:center" width="95%" valign="top"
|-style="background:LightYellow; color:black"
!Qty!!Manufacturer<br>part number!!Part name / value!!Designator!!Description!!Manufacturer!!Package<br>type!!Digikey<br>part number!!Other distributor
|-style="background:WhiteSmoke; color:black"
|colspan="9" align="left"|''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||


|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''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||


|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Inductors''
|-
|1||B82462G4682M||6.8u||L1||1.65A Power Inductor||Epcos Inc.||6.0x6.0 mm||495-1999-1-ND||


|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''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||


|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''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||


|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Other''
|-
|1||7M-12.000MAAJ||7M-12.000||Q1||Crystal 12.000MHZ 18pF||TXC Corp.||3.2x2.5mm/4pin||887-1121-1-ND||


|}
</small></small>

== PCB and assembled boards suppliers ==

Check availability on [[Get_Hardware|Get Hardware]] page

== Design source files ==
:*download ''[[Media:Navgo_v3_Protel_design.zip|NavGo v3 Protel 99SE SP6 design (zipped Protel 99 ddb file)]]''

== Mechanical Dimensions ==
[[Image:NavGo_v3_top_mechanical_dimensions.png|500px|NavGo v3 Top Mechanical Dimensions]]


== Paparazzi USB Bootloader Upload ==

=== Required components ===
:* '''1 x [http://www.ftdichip.com/Support/Documents/DataSheets/Cables/DS_TTL-232R_CABLES.pdf 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 '''[http://www.molex.com/molex/products/datasheet.jsp?part=active/0510210400_CRIMP_HOUSINGS.xml Molex Picoblade 51021-0400]''' (Digikey #WM1722-ND)
:* '''5 x''' crimp terminal female '''[http://www.molex.com/molex/products/datasheet.jsp?part=active/0500588000_CRIMP_TERMINALS.xml Molex Picoblade 50058-8000]''' (Digikey #WM1775CT-ND)
:* '''1 x''' 6-pin 0.1" pitch single in line male connector header '''[http://www.samtec.com/ProductInformation/TechnicalSpecifications/Overview.aspx?series=TSW Samtec TSW-132-07-TS]''' (Digikey #SAM1035-32-ND) or equivalent
:* 28-32AWG wiring cable
<br>

:''<u>Note1</u>: It is advised to use [http://www.ftdichip.com/Products/Cables/USBTTLSerial.htm FTDI USB-serial converter], as serial FTDI chips are by default working well in Linux.''<br>
:''The Paparazzi ground station software is configured to look for modems on FTDI ports by default.<br>
:''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''
<br>

=== Connection Diagram ===
Make up a wiring harness similar to the following
[[Image:NavGo_v3_bootloader_upload_connection_diagram.png|left|700px|NavGo v3 Paparazzi bootloader upload connections]]
<br style="clear:both">

=== Boot Sequence ===

[[Image:lpc_autopilot_boot_sequence.png| LPC based autopilot boot sequence]]

[[Category:Autopilots]]