Tiny v1.1

The Tiny autopilot was designed with an end user application in mind.

Features

• Single LPC2148 MCU
• 8 Analog input channels 0V - 3.3V
• 1 3.3V TTL UART (5V tolerant)
• 7 PWM outputs
• 1 R/C receiver PWM frame input
• 1 SPI bus
• 1 I²C bus
• 1 USB (client)
• Integrated GPS receiver and patch antenna (4Hz update)
• 5V/2A switching power supply & 3.3V linear regulator
• 2 LEDs (status display)
• 1 button (initiate launch)
• 25 grams
• 63 x 35mm (smaller then a business card)

The Tiny 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. The dual processor Classix addresses this risk by runnning critical code on a separate independent processor.

The schematics are available from the CVS repository.

Architecture

Pinout

(Tiny13 v1.1)

Wire colors:

• USB- : white
• USB+ : green
• LPC_SSEL : orange

SERIAL 1

1	GND	self explanatory
2	3.3V	self explanatory
3	SDA0	OD OUTPUT, INPUT - I2C0 data input/output
4	SCL0	OD OUTPUT, INPUT - I2C0 clock input/output
5	P0.14	INPUT - In-Circuit Serial Programming (ISP) enable - LOW on this pin during boot up to enable
6	RESET	INPUT - External Reset input - A LOW on this pin performs a hardware reset
7	RXD_0	INPUT - UART0 Serial Input (used by ISP Serial Bootloader) (5V TOLERANT)
8	TXD_0	OUTPUT - UART0 Serial Output (used by ISP Serial Bootloader) (5V TOLERANT)

SERIAL 2

1	GND	self explanatory
2	3.3V	self explanatory
3	SCK	INPUT, OUTPUT - Serial clock for SPI0. SPI clock output from master or input to slave
4	MISO	INPUT, OUTPUT - Master In Slave OUT for SPI0. Data input to SPI master or data output from SPI slave
5	MOSI	INPUT, OUTPUT - Master Out Slave In for SPI0. Data output from SPI master or data input to SPI slave
6	SSEL	INPUT - Slave Select for SSP. Selects the SSP interface as a slave (SSEL1)
7	INT	INPUT - External interrupt 2 input (EINT2)
8	USB+	INPUT, OUTPUT - USB bidirectional D+ line
9	USB-	INPUT, OUTPUT - USB bidirectional D- line
10	P0.23	INPUT - Indicates the presence of USB bus power (VBUS) (5V TOLERANT)

RC

1	GND	common ground
2	5V	POWER_OUTPUT - 5V Rail from Tiny
3	PPM_IN	INPUT - PPM Stream from RC Receiver (5V TOLERANT)
4	NC	no connection
5	NC	no connection

ANALOG

1	GND
2	3.3V
3	ADC_0
4	ADC_1
5	ADC_2
6	ADC_3
7	ADC_4
8	ADC_5
9	ADC_6
10	ADC_7

P0.14 - Holding this pin low for at least 3mS after a RESET (or power up) instructs the controller to enter programming mode.

For reference, Matthew Currie is assembling his Tiny(s) with WS Deans Micro 2R connectors for power as they are a commonly available R/C connector and are of high quality and durability. They do not have a positive lock mechanism but insert under a lot of pressure. They do not require any special crimping tools and withstand up to 10A.

Bill of Materials (BOM)

Please note that there are differences between 0.9, 0.99, and 1.1. Choose the version that matches your hardware.

Tiny 1.1 BOM

1.1_bom.zip

Tiny 0.99 BOM

Qty	Value	Device	Parts	Manufacturer	PN	distr PN
7	-	53047-03	CAMERA, RC_RX, S0, S1, S3, S4, S5	Molex	53047-0310	DK WM1732-ND
1	-	53047-04	VIDEO_TX	Molex	53047-0410	DK WM1733-ND
1	-	53047-08	SERIAL_1	Molex	53047-0810	DK WM1737-ND
2	-	53047-10	ANALOG, SERIAL_2	Molex	53047-1010	DK WM1739-ND
1	FUTABA_BEND	FUTABA_BEND	CON_ESC	-	-	-
2	LEDCHIP	LED0805	LED1, LED2	Kingbright	APT2012EC	MO 604-APT2012EC
1	B3S	B3S	SW1	OMRON ELECTRONICS	B3S-1002	RS 183-717
1	0.47uH	L-EUL2012C	L2	WURTH ELEKTRONIK	74479032	RS 308-8564
1	15uH	WE_PD	L1	Pulse	P1168.153T	MO 673-P1168.153T
2	33R	R-EU_R1005	R9, R10	Yageo	RC0402JR-0733L	DK 311-33JRCT-ND
1	150R	R-EU_R1005	R12	Yageo	RC0402JR-07150L	DK 311-150JRCT-ND
3	1K	R-EU_R1005	R2, R3, R8	Yageo	RC0402JR-071KL	DK 311-1.0KJRCT-ND
1	1.5K	R-EU_R1005	R11	Yageo	RC0402JR-071K5L	DK 311-1.5KJRCT-ND
2	3.3K	R-EU_R1005	R6, R15	Yageo	RC0402JR-073K3L	DK 311-3.3KJRCT-ND
1	4.7K	R-EU_R1005	R1	Yageo	RC0402JR-074K7L	DK 311-4.7KJRCT-ND
7	10K	R-EU_R1005	R4, R5, R13, R14, R16, R17, R18	Yageo	RC0402JR-0710KL	DK 311-10KJRCT-ND
2	12K	R-EU_R1005	R103, R105	Yageo	RC0402JR-0712KL	DK 311-12KJRCT-ND
1	15K	R-EU_R1005	R7	Yageo	RC0402JR-0715KL	DK 311-15KJRCT-ND
2	56K	R-EU_R1005	R102, R104	Yageo	RC0402JR-0756KL	DK 311-56KJRCT-ND
1	100K	R-EU_R1005	R101	Yageo	RC0402JR-07100KL	DK 311-100KJRCT-ND
3	18pF	C-EUC0402K	C3, C7, C10	TDK	C1005C0G1H180J	DK 445-1238-1-ND
2	22pF	C-EUC0402K	C8_1, C9_1	Yageo	CC0402JRNPO9BN220	DK 311-1018-1-ND
1	100pF	C-EUC0402K	C103	Kemet	C0402C101J3GACTU	DK 399-1022-1-ND
1	220pF	C-EUC0402K	C102	Kemet	C0402C221K5RACTU	DK 399-1030-1-ND
1	220pF/50V	C-EUC1206K	C4	Yageo	CC1206KRX7R9BB221	DK 311-1164-1-ND
1	1nF	C-EUC0402K	C104	Kemet	C0402C102K3RACTU	DK 399-1031-1-ND
1	3.3nF	C-EUC0402K	C101	Kemet	C0402C332K5RACTU	DK 399-3070-1-ND
1	22nF/50V	C-EUC1206K	C6	Yageo	CC1206KRX7R9BB222	DK 311-1176-1-ND
8	100nF	C-EUC0402K	C1_1, C2, C3_1, C4_1, C5_1, C6_1, C7_1, C106	Kemet	C0402C104K8PACTU	DK 99-3027-1-ND
3	100nF	C-EUC0603	C8, C9, C21	Kemet	C0603C104J4RACTU	DK 399-1097-1-ND
1	10uF	CPOL-EUA/3216-18R	C18, C105	Kemet	T491A106M010AS	DK 399-1564-1-ND MO-80-T491A106K010
1	22uF	CPOL-EUB/3528-21R	C20	Kemet	B45196H1226M209	DK 495-2185-1-ND
1	47uF/16V	CPOL-EUD/7343-31R	C5	Kemet	B45197A3476K409	DK 495-1544-1-ND
1	330uF/10V	CPOL-EUD/7343-31R	C1	Kemet	B45197A2337K509	DK 495-1536-1-ND
1	0.2F	J1ROUND	C77	Panasonic - ECG	EEC-EN0F204J1	DK P11070CT-ND
1	AD8552RU	AD8552RU	IC2	Analog Devices Inc	AD8552ARU	DK AD8552ARU-ND
1	BAS70	BAS70	D1	Micro Commercial Co.	BAS40-TP	DK BAS40TPMSCT-ND
1	STPS2L	STPS2L	D2	STMicroelectronics	STPS2L30A	DK 497-3759-1-ND
1	CD4015B	CD4015B	IC1	Texas Instruments	CD4015BPWR	DK 296-14090-1-ND
1	12MHz	CRYSTAL_CTS	Q1	CTS-Frequency Controls	405C35B12M00000	DK CTX639CT-ND
1	DDTA143	MUN2111T1	T1	Diodes Inc	DDTA143ZCA-7	DK DDTA143ZCADICT-ND
1	L5973D	L5973D	REG1	STMicroelectronics	L5973D013TR	DK 497-3638-1-ND
1	REG1117	REG1117	REG2	National Semiconductor	LM1117MP-3.3	DK LM1117MP-3.3CT-ND
1	LEA-4P	LEA-4P	GPS	Microblox	LEA-4P-0-000-0	-
1	GPS_ANT_13	GPS_ANT_13	ANTENNA	Sangshin	KSA-ST1580MS13	-
1	LPC2148	LPC2148	MCU	Philips	LPC2148FBD64-S	DK 568-1765-ND

DK = digikey

MO = mouser

RS = radiospares

Programming

The Philips LPC21xx series ARM7 microcontrollers include hardware ISP (InCircuit Serial Programming) and can initially programmed through its serial interface UART0. For convenience sake, we load a USB Bootloader onto the Tiny via the built in serial bootloader. This allows us to upload new code / flight plans quickly and conveniently while freeing up the Serial UART0 for a radio modem.

Installing the USB Bootloader

If you were supplied with a Tiny Autopilot it may have already had the second bootloader installed, please check with your supplier. If so skip this section.

You will need to convert the PC's RS232 Serial with voltage levels of +/-13V to 3.3V (or 5V) TTL in order to communicate directly with the device. This can be accomplished in multiple ways. The easiest and most convenient method is to purchase or build a USB -> Serial 3.3V adapter similar to this one TTL-232R-3V3 Here's a few other examples: [1] [2] [3] [4]

Make up a wiring harness similar to the following. You may vary the details however this is a working solution:

TINY RXD0 <-- PC SERIAL TX (5V or 3.3V)
TINY TXD0 --> PC SERIAL RX (5V or 3.3V)
TINY RESET --> optional wired to ground through a pushbutton so you can reset
TINY P0.14 (SERIAL1-5) --> attach to ground, or wire through a pushbutton to ground
TINY GND --> PC SERIAL ADAPTER GND

Once this wiring is ready you will be ready to send the USB Bootloader to the Tiny from the PC.

To prepare the Tiny to accept programming over its serial port you must have pin P0.14 LOW for at least 3mS while it is powering up or resetting. While it is still powered up it is ready to accept code over serial. Proceed now to instructions to load it via software.

In Linux

From your paparazzi3 folder in linux, type:

make upload_bl PROC=GENERIC

This will begin compiling your USB Bootloader and then attempt to transfer it to the Autopilot. This will also assume you are using a USB -> Serial adapter for the connection. It uses /dev/ttyUSB0 by default. If your adapter is mapped to a different tty, you will need to modify the Makefile accordingly.

In Windows

If for some reason you need to program your Tiny's USB Bootloader in windows start grabbing the following utility from Philips Philips Flash Utility. You will then prepare the Tiny and boot it into the ISP bootloader as mentioned above but program it with this utility. You will need to copy your compiled bl.hex file from Linux of course.