Tiny v2

From Paparazzi

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 !

Contents 1 Hardware Revision History 2 Features 2.1 Feature additions : Tiny 2.1 vs Tiny 1.1 3 Architecture 4 Pinout 5 Schematic 6 PCB 6.1 Gerber & Drill Files 7 Assembly 7.1 Components Layout 7.2 Bill Of Material 8 PCB and assembled boards suppliers 9 Downloads 10 Programming 10.1 Shortcuts

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

Tiny v2.1 3D top view (18mm GPS antenna)

Tiny v2.1 3D bottom view

Tiny v2.1 top side view (13mm GPS antenna)

Tiny v2.1 bottom side view

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 large servos, high-power modems and video systems.

• 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

Pinout

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

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

Schematic

PCB

Tiny v2.1 PCB top side view (Olimex)

Tiny v2.11 PCB top copper

Tiny v2.1 PCB bottom side view (Olimex)

Tiny v2.11 PCB bottom copper

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

Tiny v2.11 top components Layout

Tiny v2.11 bottom components Layout

Tiny v2.11 top components details

Tiny v2.11 bottom components details

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-EN0F204JK	0.2F	C23	SMD double layer capacitor (Goldcap)	Panasonic	specific		P11070CT-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

• download Tiny v2.11 Protel 99SE SP6 design (zipped Protel 99 ddb file)

Gerber & Drill files

• download Tiny v2.11 gerber & drill files (zip)

Assembly files

• download Tiny v2.11 Components layouts (pdf)
• download Tiny v2.11 Bill Of Material (zipped .xls file)

Programming

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 Compiling and Flashing page for more detailed instructions on installing the bootloader and autopilot software.

Shortcuts

• USB_Boot_Loader
• Tunnel
• GPS_CONFIG