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    Name                                   Name
    01)Connectors.Sch                      02)Power_Supply.Sch


D                                                                                                                                                                                             D




    Name                                   Name
    03)Microcontroller.Sch                 04)IMU.Sch




C                                                                                                                                                                                             C




                    OBJ1           OBJ5


                    SCREW4MMHOLE   SCREW4MMHOLE

                    OBJ2           OBJ6


                    SCREW4MMHOLE   SCREW4MMHOLE
B                                                                                                                                                                                             B
                    OBJ3


                    SCREW4MMHOLE

                    OBJ4


                    SCREW4MMHOLE




A                                                                                                                                                                                             A
                                                                                                                     LASER NAVIGATION S.r.L.
                                                                     Project Title:   LN_MULTIPILOT                  Via Giacomo Matteotti 34
                                                                     Sheet Title:                                    24054 Calcio (BG) Italy
                                                                                      Block diagram                  Tel. / Fax: 0363-968520 / 969244   Questo documento non può essere
                                                                     Rev: 3.0      Date: 01/04/2011   Sheet 1 of 5   Web: www.radionav.it               prodotto, usato o reso noto a terzi
                                                                     File: MULTIPILOT32_3_0.ddb                      E-Mail: info@radionav.it           senza autorizzazione scritta
                             1                                   2                     3                                                                4
1                                                                      2                                                                      3                                                                              4

    +5V             F2
                    miniSMDC050 (NP)                                                                                                                                                     +5V


           JP22                    D3 5V_SERVO                                                                                                                     VCC_3V3         R19         VCC_3V3
                   5V_SVD 2                1                                                                                                                                       10K
                                    K A
D                                  PMEG4005EH                                                                                                                                                     Q2                                                                                     D
          APERTO                                                                                                                                                           R18
                                                                                                                                                                           47K                    BC846
                                         JP4                +5V   JP5                     JP6                                                                                              R20
                   R29            100R                                                                                                                    R9                       Q1      36K
     PWM_IN0       R30                    1                        1                       1                USB_DISC                                                               BC846
                                  100R                                                                                                                    1K
     PWM_IN1       R31                    2      5V_SERVO          2                       2
                                  100R                                                                                                                                                               R21
     PWM_IN2       R32                    3                        3                       3
                                  100R                                                                                                                                                               1.5K                                                          JP16_A
     PWM_IN3       R33                    4                        4                       4                USB_PRESENT
                                  100R                                                                                                                                                                                                                         1
     PWM_IN4       R34                    5                        5                       5                                                                                                                                    SDIO_D2                             CD/DAT[2]
                                  100R                                                                                                                                                                                                                         2
     PWM_IN5       R35                    6                        6                       6                                                                                                                                    SDIO_D3                             CD/DAT[3]
                                  100R                                                                                                                           D4         +5V                                                                                3
     PWM_IN6       R36                    7                        7                       7                         R22            R23                                                                                         SDIO_CMD                            CMD
                                  100R                                                                                                         5V_USB 1                        2                                                                               4
     PWM_IN7                              8                        8                       8                                                                       A K                                                            VCC_3V3                           VDD
                                                                                                                     1.5K           1K                                                                                                                         5
                                                                                                                                                                 PMEG4005EH                                                     SDIO_CK                             CLK
                                         STREAPM1x8               STREAPM1x8              STREAPM1x8                         CN1                                                                                                                               6
                                                                                                                                                                                                                                                                    VSS
                                                                                                                                                                                                                                                               7
                                                                                                                                    1                                                                                           SDIO_D0                             CD/DAT[0]
                                                                                                                                               D-     4                              3     USBM                                                                8
                                                                                                                                    2                            D3         D2                              USBM                SDIO_D1                             CD/DAT[1]
                                                       5V_SERVO                                                                                D+     6                              1     USBP                                                                9
                                                                                                                                    3                            D4         D1                              USBP                                                    COM
                                         JP1                   JP2                        JP3                                                  GND    2                              5                                                                        10
                   R12                                                                                                              4                            GND       VCC                 VCC_3V3                          SD_DETECT                           DETECT
                                  100R
    PWM_CH0        R13                    1                        1                       1                                        5
                                  100R                                                                                                                      USBUF02W6                                                                                     MICROSD_CONN_AMP
C   PWM_CH1        R14                    2                        2                       2                                        6                                                                                                                                                    C
                                  100R                                                                                                                      U1
    PWM_CH2        R15                    3                        3                       3
                                  100R                                                                                      USB_MIINIB_SMT
    PWM_CH3        R16                    4                        4                       4
                                  100R
    PWM_CH4        R17                    5                        5                       5
                                  100R
    PWM_CH5        R37                    6                        6                       6
                                  100R
    SCL2/CANRX     R38                    7                        7                       7
                                  100R                                                                                                                                                                                                                             JP16
    SDA2/CANTX                            8                        8                       8
                                                                                                                                                                                                                                                               1
                                                                                                                                                                                                                                SDIO_D2                             CD/DAT[2]
                                         STREAPM1x8               STREAPM1x8              STREAPM1x8                                                                                                                                                           2
                                                                                                                                                                                                                                SDIO_D3                             CD/DAT[3]
                                                                                                                                                                                                                                                               3
                                                                                                                                                                                                                                SDIO_CMD                            CMD
                                                                                                                                                                                                                                                               4
                                                                                                                                                                                                                                  VCC_3V3                           VDD
                                                                                                                                                                                                                                                               5
                                                                                                              TELEMETRIA                                                                                                        SDIO_CK
                                                                                                                                                                                                                                                               6
                                                                                                                                                                                                                                                                    CLK
                                                                                                                                                                                                                                                                    VSS
                             JP8                                        JP10                                                 JP14                                                   JP15                                                                       7
                                                                                                                                                                                                                                SDIO_D0                             CD/DAT[0]
                                   (JP6_3)                                     (EM406 READY - I2C PORT)                                                                                                                                                        8
          ADC12_CH0           1                       GPIO_11            1                                  VCC_3V3            1                            VCC_3V3                  1                                          SDIO_D1                             CD/DAT[1]
                                   (JP6_1)                                     (BMP085 - PRESSURE)                                  (JP2 PIN_3)                                            (DATA_FLASH CS)                                                     9
          ADC12_CH1           2                            SCL1          2                                 UART3_TX            2                          GPIO_18                    2                                                                              COM
                                   (JP16_2)                                    (DIP SWITCH PIN_3)                                   (JP2 PIN_4)                                                                                                               10
          ADC12_CH2           3                       GPIO_12            3                                UART3_RX             3                                                     3                                          SD_DETECT                           DETECT
                                   (JP21_3)                                                                                                                                                (MOSI_ADS7844 - ADC)
          ADC12_CH3           4                                          4                                                                                   SPI2_MOSI               4
                                   (FREE)                                      (RELAY_CMD)                                   STREAPM1x3                                                    (DIP SWITCH PIN_1)                                             MICROSD_CONN_KYOCERA
          GPIO_10             5                       GPIO_13            5                                                                                GPIO_19                    5
                                   (FREE)
B         GPIO_9              6                                          6                                                                                                           6                                               R24                                                 B
                                   (FREE)                                                                                    JP12
          GPIO_8              7                          VCC_5V          7                                                                                                                                           VCC_3V3
                                                                                                                                    (EOC_BMP085 - PRESSURE)                         STREAPM1x6                                       10K
            VCC_3V3           8                                                                           GPIO_0               1
                                                                        STREAPM1x7                                                  (DATA_FLASH RESET)
                                                                                                          GPIO_1               2
                             STREAPM1x8                                                                                             (FREE)
                                                                                                          GPIO_2               3
                                                                                                                                    (CS_ADS7844 - ADC)                              JP18
                                                                                                          GPIO_3               4
                                                                                                                                    (BUSY_ADS7844 - ADC)                                                                                         JP19
                                                                                                          GPIO_4               5                                                     1
                             JP9                                        JP11                                                        (LED_RED)
                                                                                                          GPIO_5               6                                                     2                                                            1       2
                                   (JP6_2)                                     (BMP085 - PRESSURE)                                  (LED_YELLOW)                                           (SCK_ADS7844 - ADC)
          ADC12_CH4           1                            SDA1          1                                GPIO_6               7                         SPI2_SCK                    3                                     VCC_3V3                3       4          VCC_5V
                                   (JP16_3)                                    (DIP SWITCH PIN_4)                                   (LED_GREEN)                                            (MISO_ADS7844 - ADC)
          ADC12_CH5           2                       GPIO_14            2                                GPIO_7               8                        SPI2_MISO                    4                                   UART1_TX                 5       6            UART2_TX
                                   (JP16_1)
          ADC12_CH6           3                                          3                                                                                                           5                                  UART1_RX                  7       8           UART2_RX
                                   (JP22_3)                                                                         STREAPM1x8
          ADC12_CH7           4                                          4                                                                                         AREF              6
                                                                                                                                                                                                                                                 CON4X4
            PB12              5                       BOOT0              5
                                                                                                                             JP13                                                   STREAPM1x6
                              6
                              7                       GPIO_15
                                                                         6
                                                                         7
                                                                               (DIP SWITCH PIN_2)
                                                                                                          GPIO_16              1
                                                                                                                                    (FREE)                                                                                                       GPS
                                                                                                                                    (JP23_3)
                              8                                                                           GPIO_17              2
                                                                        STREAPM1x7
                             STREAPM1x8                                                                                      STREAPM1x2

A                                                                                                                                                                                                                                                                                        A
                                                                                                                                                                                                              LASER NAVIGATION S.r.L.
                                                                                                                                                  Project Title:      LN_MULTIPILOT                           Via Giacomo Matteotti 34
                                                                                                                                                  Sheet Title:                                                24054 Calcio (BG) Italy
                                                                                                                                                                 Connectors                                   Tel. / Fax: 0363-968520 / 969244     Questo documento non può essere
                                                                                                                                                  Rev: 3.0      Date: 01/04/2011               Sheet 2 of 5   Web: www.radionav.it                 prodotto, usato o reso noto a terzi
                                                                                                                                                  File: MULTIPILOT32_3_0.ddb                                  E-Mail: info@radionav.it             senza autorizzazione scritta
                         1                                                                      2                                                                      3                                                                              4
1                                                                 2                                                                  3                                                                       4


                                                                   VCC_3V3                IC1
                              JP21 OPEN                                             22                                                                       23     PA0
                    VCC_3V3                                              AREF
                                                                                    21
                                                                                           VDDA
                                                                                           VREF+
                                                                                                                    PA0 (ADC12_IN0/TIM2_CH1_ETR)
                                                                                                                         PA1 (ADC12_IN1/TIM2_CH2)
                                                                                                                                                             24     PA1
                                                                                                                                                                                    ADC12_CH0
                                                                                                                                                                                    PWM_CH0
                                                                                                                                                                                                      Consumption (Iq) @ 72MHz - 8MHz - 1MHz
                                                             C13                                                                                             25     PA2
                                                             100nF       C15                                 PA2 (ADC12_IN2/USART2_TX/TIM2_CH3)                                     PWM_CH1           run (all peripherarls ON)        51mA           7.2mA          2mA
                                                                                                                                                             26     PA3
                                                                         100nF                               PA3 (ADC12_IN3/USART2_RX/TIM2_CH4)                                     PWM_CH2
                                                                                    20                                                                       29     PA4
D                                                                                          VREF-                                   PA4 (ADC12_IN4)                                  ADC12_CH1         Sleep (all peripherarls ON) 29.5mA 3.9mA                       1.5mA       D
                              JP24 CLOSED                                           19                                                                       30     PA5
                                                                                           VSSA                          PA5 (ADC12_IN5/ SPI1_SCK)                                  SPI1_SCK
                                                                                                                                                             31     PA6
                                                                                                              PA6 (ADC12_IN6/ SPI1_MISO/TIM3_CH1)                                   SPI1_MISO
                              JP23 CLOSED                                             6                                                                      32     PA7
                                                                                           VBAT               PA7 (ADC12_IN7/ SPI1_MOSI/TIM3_CH2)                                   SPI1_MOSI
                                                                                     50                                                                      67     PA8
                                                       VCC_3V3
                                                                                     75
                                                                                           VDD_1
                                                                                           VDD_2
                                                                                                                               PA8 (TIM1_CH1/MCO)
                                                                                                                        PA9 (USART1_TX/TIM1_CH2)
                                                                                                                                                             68     PA9
                                                                                                                                                                                      PWM_IN0
                                                                                                                                                                                    UART1_TX
                                                                                                                                                                                                      Consumption (Iq) Stop Mode - Standby Mode
                                                                                    100                                                                      69     PA10
                    VCC_3V3                                                                VDD_3                      PA10 (USART1_RX/TIM1_CH3)                                       UART1_RX                                         35uA                 3.8uA
                                                                                     28                                                                      70     PA11
                                                           C12        C14   C16            VDD_4                           PA11 (USBDM/TIM1_CH4)                                    USBM
                              JP25 OPEN                                              11                                                                      71     PA12                                      VCC_3V3
                                                           100nF      100nF 100nF          VDD_5                            PA12 (USBDP/TIM1_ETR)                                   USBP
                                                                                                                                                             72     PA13
                                                                                                                                PA13 (JTMS_SWDAT)                                    JTAG_TMS
                                                                                    99                                                                       76     PA14
                                                                                           VSS_3                                PA14 (JTCK_SWCLK)                                    JTAG_TCK                       R11
                                                                                    49                                                                       77     PA15
                                                                                           VSS_1                         PA15 (TIM2_CH1_ETR/JTDI)                                    JTAG_TDI                       1K
                                                                                    74
                                                                                           VSS_2
                              JP26 CLOSED                                           27
                                                                                           VSS_4
                                                                             1K     10                                                                       35     PB0
                                                                    R8                     VSS_5                            PB0 (ADC12_IN8/TIM3_CH3)                                PWM_CH4
                                                                                                                                                             36     PB1
                                                      VCC_3V3                                                               PB1 (ADC12_IN9/TIM3_CH4)                                PWM_CH5
                         VCC_3V3                                                                                                                             37     BOOT1                                             JP20
                                                      JTAG_TRST                                                                            PB2 (BOOT1)
                                                                                    14                                                                       89     PB3
                                                                                           NRST                                   PB3 (JTDO/TIM2_CH2)                                JTAG_TDO
                                                                         BOOT0      94                                                                       90     PB4
                        R7                                BOOT0                            BOOT0                                 PB4 (JTRST/TIM3_CH1)                               JTAG_TRST
                                                                                                                                                             91     PB5
C                       10K                                                                                                             PB5 (TIM3_CH2)                              PWM_CH3                                                                                      C
                                                                         PE0        97                                                                       92     PB6
                                                          GPIO_0                           PE0                                PB6 (I2C1_SCL/TIM4_CH1)
                                                                         PE1        98                                                                       93     PB7
                                                          GPIO_1                           PE1                                PB7 (I2C1_SDA/TIM4_CH2)
              SW1                                                        PE2         1                                                                       95     PB8
                                                          GPIO_2                           PE2                       PB8 (I2C1_SCL/CANRX/TIM4_CH3)                                  SCL2/CANRX         R10
              SWITCH                                                     PE3         2                                                                       96     PB9
                                                          GPIO_3                           PE3                       PB9 (I2C1_SDA/CANTX/TIM4_CH4)                                  SDA2/CANTX         1k
                                                                         PE4         3                                                                       47     PB10
                                  C10                     GPIO_4                           PE4                               PB10 (I2C2_SCL/TIM2_CH3)                                SCL1
                                                                         PE5         4                                                                       48     PB11
                                  100nF                   GPIO_5                           PE5                              PB11 (I2C2_SDA/TIM2_CH4)                                 SDA1
                                                                         PE6         5                                                                       51     PB12
                                                          GPIO_6                           PE6                                        PB12 (TIM1_BKIN)                               PB12
                                                                         PE7        38                                                                       52     PB13
                                                          GPIO_7                           PE7                             PB13 (SPI2_SCK/TIM1_CH1N)                                 SPI2_SCK
                                                                         PE8        39                                                                       53     PB14
                                                          GPIO_8                           PE8                           PB14 (SPI2_MISO/TIM1_CH2N)                                  SPI2_MISO
                                                                         PE9        40                                                                       54     PB15                                                         (TO DATA_FLASH)
                                                         GPIO_16                           PE9 (TIM1_CH1)                PB15 (SPI2_MOSI/TIM1_CH3N)                                  SPI2_MOSI
                                                                         PE10       41                                                                                                                                                        VCC_5V
    Settings (pay attention):                             GPIO_9
                                                         GPIO_10
                                                                         PE11       42
                                                                                           PE10
                                                                                           PE11 (TIM1_CH2)
                                                                                                                                                                                                        DL2
                                                                                                                                                                                                                    SPI1_MISO               1    2
                                                                         PE12       43                                                                       15     PC0                                 GREEN
                                                         GPIO_11                           PE12                                     PC0 (ADC12_IN10)                                ADC12_CH2                      SPI1_SCK                 3    4            SPI1_MOSI
                                                                         PE13       44                                                                       16     PC1
              F10xxx F20xxx                              GPIO_12
                                                       PWM_IN3
                                                                         PE14       45
                                                                                           PE13 (TIM1_CH3)
                                                                                           PE14 (TIM1_CH4)
                                                                                                                                    PC1 (ADC12_IN11)
                                                                                                                                    PC2 (ADC12_IN12)
                                                                                                                                                             17     PC2
                                                                                                                                                                                    ADC12_CH3
                                                                                                                                                                                    ADC12_CH4
                                                                                                                                                                                                                                            5    6
                                                                         PE15       46                                                                       18     PC3                                                            U$5
    JP21      OPEN                CLOSED                 GPIO_13                           PE15                                     PC3 (ADC12_IN13)
                                                                                                                                    PC4 (ADC12_IN14)
                                                                                                                                                             33     PC4
                                                                                                                                                                                    ADC12_CH5
                                                                                                                                                                                    ADC12_CH6
                                                                                                                                                                                                                                   STREAP_2X3
                                                                         PD0        81                                                                       34     PC5
B
    JP24      CLOSED              OPEN                 PWM_IN1
                                                       PWM_IN2
                                                                         PD1        82
                                                                                           PD0
                                                                                           PD1
                                                                                                                                    PC5 (ADC12_IN15)
                                                                                                                                      PC6 (TIM8_CH1)
                                                                                                                                                             63     PC6
                                                                                                                                                                                    ADC12_CH7
                                                                                                                                                                                                                                                                                 B
                                                                         PD2        83                                                                       64     PC7
    JP23      CLOSED              OPEN                SDIO_CMD
                                                      SD_DETECT
                                                                         PD3        84
                                                                                           PD2 (UART5_RX/SDIO_CMD)
                                                                                           PD3
                                                                                                                                      PC7 (TIM8_CH2)
                                                                                                                             PC8 (TIM8_CH3/SDIO_D0)
                                                                                                                                                             65     PC8
                                                                                                                                                                                      USB_DISC
                                                                                                                                                                                    SDIO_D0
                                                                         PD4        85                                                                       66     PC9
    JP25      OPEN                CLOSED              USB_PRESENT
                                                       UART2_TX
                                                                         PD5        86
                                                                                           PD4
                                                                                           PD5 (USART2_TX)
                                                                                                                             PC9 (TIM8_CH4/SDIO_D1)
                                                                                                                           PC10 (UART4_TX/SDIO_D2)
                                                                                                                                                             78     PC10
                                                                                                                                                                                    SDIO_D1
                                                                                                                                                                                    SDIO_D2
                                                                                                                                                                                                                                   U$1
                                                                         PD6        87                                                                       79     PC11                                                           STREAP_2X5
    JP26      CLOSED              2.2uF 6V3           UART2_RX
                                                         GPIO_17
                                                                         PD7        88
                                                                                           PD6 (USART2_RX)
                                                                                           PD7
                                                                                                                           PC11 (UART4_RX/SDIO_D3)
                                                                                                                           PC12 (UART5_TX/SDIO_CK)
                                                                                                                                                             80     PC12
                                                                                                                                                                                    SDIO_D3
                                                                                                                                                                                    SDIO_CK
                                                                                                                                                                                                                      VCC_3V3
                                                                         PD8        55                                                                       7      PC13
    C11       NP                  2.2uF 6V3            UART3_TX
                                                      UART3_RX
                                                                         PD9        56
                                                                                           PD8 (USART3_TX)
                                                                                           PD9 (USART3_RX)
                                                                                                                                      PC13-TAMP-RTC
                                                                                                                                       PC14-OSC32_IN
                                                                                                                                                             8      PC14
                                                                                                                                                                                    GPIO_14
                                                                                                                                                                                    GPIO_15
                                                                                                                                                                                                                                       1
                                                                                                                                                                                                                                       3
                                                                                                                                                                                                                                             2
                                                                                                                                                                                                                                             4
                                                                                                                                                                                                                                                           JTAG_TMS
                                                                                                                                                                                                                                                           JTAG_TCK
                                                                         PD10       57                                                                       9      PC15
                                                         GPIO_18                           PD10                                      PC15-OSC32_OUT                                 GPIO_19                                            5     6             JTAG_TDO
                                                                         PD11       58                                                                       73
                                                                                           PD11                                                  NC                                                                                    7     8             JTAG_TDI
                                                                         PD12       59                                                                                                    C25
                                                       PWM_IN4                             PD12 (TIM4_CH1)                                                                                                                             9    10            JTAG_TRST
                                                                         PD13       60                      ARM 7
                                                       PWM_IN5                             PD13 (TIM4_CH2)
                                                                         PD14       61                                                                       12 OSC_IN
                                                       PWM_IN6                             PD14 (TIM4_CH3)                                    OSC_IN
                  JP7                                                    PD15       62                                                                       13 OSC_OUT                   22pF
                                                       PWM_IN7                             PD15 (TIM4_CH4)                                  OSC_OUT                                                             C11
                                                                                                                                                                                          C24
                    6                                                                                                                                                                                           2.2uF 6V3 (NP)
                                                                                          STM32F103VET6                                                                     X2
                    5
                                                                                                                                                                            8MHz
                    4             VCC_5V
     (TO FT232)                                                                                                                                                                           22pF
                    3         UART1_RX
A                   2          UART1_TX                                                                                                                                                                                                                                          A
                    1
                                                                                                                                                                                                    LASER NAVIGATION S.r.L.
           STREAPM1x6         C7                                                                                                                 Project Title:   LN_MULTIPILOT                     Via Giacomo Matteotti 34
                              100nF                                                                                                                                                                 24054 Calcio (BG) Italy
                                          JTAG_TRST                                                                                              Sheet Title:     Microcontroller                   Tel. / Fax: 0363-968520 / 969244       Questo documento non può essere
                                                                                                                                                 Rev: 3.0      Date: 01/04/2011      Sheet 4 of 5   Web: www.radionav.it                   prodotto, usato o reso noto a terzi
                                                                                                                                                 File: MULTIPILOT32_3_0.ddb                         E-Mail: info@radionav.it               senza autorizzazione scritta
                              1                                                                 2                                                                  3                                                                       4
1                                                                     2                                                                                  3                                                                        4




                                                                                     Iq = 500uA
                                                                                      C3
D                                                                                                                                                                                                                                                                           D




                                                                                           7
             JP17                     D1            VIN                               100nF               U2
                       VIN_DIODE
                               1                2                                8                             2
               2                      A K                                              VIN          BTS




                                                                                              VCC
                                                                                                                                         100uH 0.4A (wurth 744042101)
               1                   PMEG4005EH                                                                                     C4
                                                      +                                                                                                                     +5V_SWOUT                 D5    +5V                      +5V             VCC_5V
                                         C1                     C2       R1                                                       10nF          L1




                                                                                                                        2
     STREAP_2x1                                                                  6                             1 V_SWITCH                                                                     1                2
                                                                100nF                  RON          SW                                                                                               A K
                                                                         220k
                                                                                                                                  D2                                                                     PMEG4005EH                  F1




                                                                                                                            A K
                                                                                              RTN
                                                                                 3                             5                  PMEG4005EH R2                      R4                           C5                                 miniSMDC050
                                     22uF 25V (Vishay 168913)                          RCL          FB                                       1.8k 1% (NP)            1k1 1%                       22uF 16V (1210ZG226ZAT2A)
                                                                                                                                                                                +                 +
                                                                                                    LM25007MM




                                                                                           4




                                                                                                                        1
                                                                                                                                                                     R5
                                                                                                                                                                     1k 1%
                                                                                R6
                                                                                100k 1%
                                                                                                                                                                        C6
C                                                                                                                                                                       22uF 16V (1210ZG226ZAT2A)                                                                           C




                     Iq = 4uA max
                                                                                       VCC_5V
    VCC_5V
B                                                                                                                                                                                                                                                                           B
                     U3
                     MCP1700T-3302E/MB        VCC_3V3                                         R3
               2                     3                                                        1k
                      Vin   Vout
               4
                          GND




                      Vin                     C19 +
                         1




             C8                       C9                  22uF 6V TANT                        DL1
             100nF                    100nF                                                   RED




A                                                                                                                                                                                                                                                                           A
                                                                                                                                                                                                  LASER NAVIGATION S.r.L.
                                                                                                                                            Project Title:   LN_MULTIPILOT                        Via Giacomo Matteotti 34
                                                                                                                                            Sheet Title:                                          24054 Calcio (BG) Italy
                                                                                                                                                             Power Supply                         Tel. / Fax: 0363-968520 / 969244    Questo documento non può essere
                                                                                                                                            Rev: 3.0      Date: 01/04/2011     Sheet 3 of 5       Web: www.radionav.it                prodotto, usato o reso noto a terzi
                                                                                                                                            File: MULTIPILOT32_3_0.ddb                            E-Mail: info@radionav.it            senza autorizzazione scritta
     1                                                                     2                                                                                  3                                                                        4
1                                                    2                                                                 3                                                                                  4




D                                                                        TP2 TP3 TP4 TP5                                            TP6                                         VCC_3V3_ANA                                                                    D

                                                                                                                                      EN        R27            C27
                                                 GIRO+ACCEL




                                                                                  MISO

                                                                                          MOSI

                                                                                                 SCK
                                                                                                                                                1K             100nF




                                                                             CS




                                                                                                                                                                          3
                                                 U5
                                                 MPU-6000                                                                                 R26                  1
                                      TP1                                                                           GPIO_10
                                             6                           8                                                                100R
                                                  AUX_DA    CS/VLOGIC                                   GPIO_9                                            Q3
                                             7                           9
                                                  AUX_CL      AD0_SCO                                  SPI2_MISO
                                        EOC                              24                                                                               NTR1P02T1
                                                               SDA/SDI                                 SPI2_MOSI
                                          22                             23




                                                                                                                                                                          2
                                                  CLKOUT     SCL/SCLK                                  SPI2_SCK                                                                 VCC_IMU
                             GYRO_EOC
                   GPIO_18
                                            12                           1
                              R25                 INT           CLKIN
                                            11
                                                  FSYNC
                            0R                                           20
                                                               CPUOT
                                            13                           10
                         VCC_IMU                  VDD         REGOUT
                                            18                                                                       TP7      VCC_3V3                          VCC_3V3_ANA
                                                  GND                                                                                       L2
                                                                         2
                              100nF                                NC
                                            21                           3
                              C18                 RESV             NC                                                VCC                                            R28
                                            19                           4                                                   10uH (LQH31MN100K03L)
C                                                 RESV             NC                                                                                               1R                                                                                         C
                                                                         5




                                                          NC
                                                          NC
                                                          NC
                                                          NC
                                                                   NC             C20            C23
                                                                                  100nF          10nF                                                      C28                C26
                                                                                                                                                        4.7uF 6V3             100nF



                                                         17
                                                         16
                                                         15
                                                         14
                                                                                                                                                      TP8

                                                                                                                                                      GND

                                                   Iq = 3.9mA

    OBJ7


    HOLE_2MM

    OBJ8
B                                                                                                                                                                                                                                                              B

    HOLE_2MM




A                                                                                                                                                                                                                                                              A
                                                                                                                                                                                      LASER NAVIGATION S.r.L.
                                                                                                                   Project Title:    LN_MULTIPILOT                                    Via Giacomo Matteotti 34
                                                                                                                   Sheet Title:                                                       24054 Calcio (BG) Italy
                                                                                                                                     IMU                                              Tel. / Fax: 0363-968520 / 969244   Questo documento non può essere
                                                                                                                   Rev: 3.0      Date: 01/04/2011               Sheet 5 of 5          Web: www.radionav.it               prodotto, usato o reso noto a terzi
                                                                                                                   File: MULTIPILOT32_3_0.ddb                                         E-Mail: info@radionav.it           senza autorizzazione scritta
               1                                                    2                                                                 3                                                                                  4

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Scheme ln multipilot32v3+imu

  • 1. 1 2 3 4 Name Name 01)Connectors.Sch 02)Power_Supply.Sch D D Name Name 03)Microcontroller.Sch 04)IMU.Sch C C OBJ1 OBJ5 SCREW4MMHOLE SCREW4MMHOLE OBJ2 OBJ6 SCREW4MMHOLE SCREW4MMHOLE B B OBJ3 SCREW4MMHOLE OBJ4 SCREW4MMHOLE A A LASER NAVIGATION S.r.L. Project Title: LN_MULTIPILOT Via Giacomo Matteotti 34 Sheet Title: 24054 Calcio (BG) Italy Block diagram Tel. / Fax: 0363-968520 / 969244 Questo documento non può essere Rev: 3.0 Date: 01/04/2011 Sheet 1 of 5 Web: www.radionav.it prodotto, usato o reso noto a terzi File: MULTIPILOT32_3_0.ddb E-Mail: info@radionav.it senza autorizzazione scritta 1 2 3 4
  • 2. 1 2 3 4 +5V F2 miniSMDC050 (NP) +5V JP22 D3 5V_SERVO VCC_3V3 R19 VCC_3V3 5V_SVD 2 1 10K K A D PMEG4005EH Q2 D APERTO R18 47K BC846 JP4 +5V JP5 JP6 R20 R29 100R R9 Q1 36K PWM_IN0 R30 1 1 1 USB_DISC BC846 100R 1K PWM_IN1 R31 2 5V_SERVO 2 2 100R R21 PWM_IN2 R32 3 3 3 100R 1.5K JP16_A PWM_IN3 R33 4 4 4 USB_PRESENT 100R 1 PWM_IN4 R34 5 5 5 SDIO_D2 CD/DAT[2] 100R 2 PWM_IN5 R35 6 6 6 SDIO_D3 CD/DAT[3] 100R D4 +5V 3 PWM_IN6 R36 7 7 7 R22 R23 SDIO_CMD CMD 100R 5V_USB 1 2 4 PWM_IN7 8 8 8 A K VCC_3V3 VDD 1.5K 1K 5 PMEG4005EH SDIO_CK CLK STREAPM1x8 STREAPM1x8 STREAPM1x8 CN1 6 VSS 7 1 SDIO_D0 CD/DAT[0] D- 4 3 USBM 8 2 D3 D2 USBM SDIO_D1 CD/DAT[1] 5V_SERVO D+ 6 1 USBP 9 3 D4 D1 USBP COM JP1 JP2 JP3 GND 2 5 10 R12 4 GND VCC VCC_3V3 SD_DETECT DETECT 100R PWM_CH0 R13 1 1 1 5 100R USBUF02W6 MICROSD_CONN_AMP C PWM_CH1 R14 2 2 2 6 C 100R U1 PWM_CH2 R15 3 3 3 100R USB_MIINIB_SMT PWM_CH3 R16 4 4 4 100R PWM_CH4 R17 5 5 5 100R PWM_CH5 R37 6 6 6 100R SCL2/CANRX R38 7 7 7 100R JP16 SDA2/CANTX 8 8 8 1 SDIO_D2 CD/DAT[2] STREAPM1x8 STREAPM1x8 STREAPM1x8 2 SDIO_D3 CD/DAT[3] 3 SDIO_CMD CMD 4 VCC_3V3 VDD 5 TELEMETRIA SDIO_CK 6 CLK VSS JP8 JP10 JP14 JP15 7 SDIO_D0 CD/DAT[0] (JP6_3) (EM406 READY - I2C PORT) 8 ADC12_CH0 1 GPIO_11 1 VCC_3V3 1 VCC_3V3 1 SDIO_D1 CD/DAT[1] (JP6_1) (BMP085 - PRESSURE) (JP2 PIN_3) (DATA_FLASH CS) 9 ADC12_CH1 2 SCL1 2 UART3_TX 2 GPIO_18 2 COM (JP16_2) (DIP SWITCH PIN_3) (JP2 PIN_4) 10 ADC12_CH2 3 GPIO_12 3 UART3_RX 3 3 SD_DETECT DETECT (JP21_3) (MOSI_ADS7844 - ADC) ADC12_CH3 4 4 SPI2_MOSI 4 (FREE) (RELAY_CMD) STREAPM1x3 (DIP SWITCH PIN_1) MICROSD_CONN_KYOCERA GPIO_10 5 GPIO_13 5 GPIO_19 5 (FREE) B GPIO_9 6 6 6 R24 B (FREE) JP12 GPIO_8 7 VCC_5V 7 VCC_3V3 (EOC_BMP085 - PRESSURE) STREAPM1x6 10K VCC_3V3 8 GPIO_0 1 STREAPM1x7 (DATA_FLASH RESET) GPIO_1 2 STREAPM1x8 (FREE) GPIO_2 3 (CS_ADS7844 - ADC) JP18 GPIO_3 4 (BUSY_ADS7844 - ADC) JP19 GPIO_4 5 1 JP9 JP11 (LED_RED) GPIO_5 6 2 1 2 (JP6_2) (BMP085 - PRESSURE) (LED_YELLOW) (SCK_ADS7844 - ADC) ADC12_CH4 1 SDA1 1 GPIO_6 7 SPI2_SCK 3 VCC_3V3 3 4 VCC_5V (JP16_3) (DIP SWITCH PIN_4) (LED_GREEN) (MISO_ADS7844 - ADC) ADC12_CH5 2 GPIO_14 2 GPIO_7 8 SPI2_MISO 4 UART1_TX 5 6 UART2_TX (JP16_1) ADC12_CH6 3 3 5 UART1_RX 7 8 UART2_RX (JP22_3) STREAPM1x8 ADC12_CH7 4 4 AREF 6 CON4X4 PB12 5 BOOT0 5 JP13 STREAPM1x6 6 7 GPIO_15 6 7 (DIP SWITCH PIN_2) GPIO_16 1 (FREE) GPS (JP23_3) 8 GPIO_17 2 STREAPM1x7 STREAPM1x8 STREAPM1x2 A A LASER NAVIGATION S.r.L. Project Title: LN_MULTIPILOT Via Giacomo Matteotti 34 Sheet Title: 24054 Calcio (BG) Italy Connectors Tel. / Fax: 0363-968520 / 969244 Questo documento non può essere Rev: 3.0 Date: 01/04/2011 Sheet 2 of 5 Web: www.radionav.it prodotto, usato o reso noto a terzi File: MULTIPILOT32_3_0.ddb E-Mail: info@radionav.it senza autorizzazione scritta 1 2 3 4
  • 3. 1 2 3 4 VCC_3V3 IC1 JP21 OPEN 22 23 PA0 VCC_3V3 AREF 21 VDDA VREF+ PA0 (ADC12_IN0/TIM2_CH1_ETR) PA1 (ADC12_IN1/TIM2_CH2) 24 PA1 ADC12_CH0 PWM_CH0 Consumption (Iq) @ 72MHz - 8MHz - 1MHz C13 25 PA2 100nF C15 PA2 (ADC12_IN2/USART2_TX/TIM2_CH3) PWM_CH1 run (all peripherarls ON) 51mA 7.2mA 2mA 26 PA3 100nF PA3 (ADC12_IN3/USART2_RX/TIM2_CH4) PWM_CH2 20 29 PA4 D VREF- PA4 (ADC12_IN4) ADC12_CH1 Sleep (all peripherarls ON) 29.5mA 3.9mA 1.5mA D JP24 CLOSED 19 30 PA5 VSSA PA5 (ADC12_IN5/ SPI1_SCK) SPI1_SCK 31 PA6 PA6 (ADC12_IN6/ SPI1_MISO/TIM3_CH1) SPI1_MISO JP23 CLOSED 6 32 PA7 VBAT PA7 (ADC12_IN7/ SPI1_MOSI/TIM3_CH2) SPI1_MOSI 50 67 PA8 VCC_3V3 75 VDD_1 VDD_2 PA8 (TIM1_CH1/MCO) PA9 (USART1_TX/TIM1_CH2) 68 PA9 PWM_IN0 UART1_TX Consumption (Iq) Stop Mode - Standby Mode 100 69 PA10 VCC_3V3 VDD_3 PA10 (USART1_RX/TIM1_CH3) UART1_RX 35uA 3.8uA 28 70 PA11 C12 C14 C16 VDD_4 PA11 (USBDM/TIM1_CH4) USBM JP25 OPEN 11 71 PA12 VCC_3V3 100nF 100nF 100nF VDD_5 PA12 (USBDP/TIM1_ETR) USBP 72 PA13 PA13 (JTMS_SWDAT) JTAG_TMS 99 76 PA14 VSS_3 PA14 (JTCK_SWCLK) JTAG_TCK R11 49 77 PA15 VSS_1 PA15 (TIM2_CH1_ETR/JTDI) JTAG_TDI 1K 74 VSS_2 JP26 CLOSED 27 VSS_4 1K 10 35 PB0 R8 VSS_5 PB0 (ADC12_IN8/TIM3_CH3) PWM_CH4 36 PB1 VCC_3V3 PB1 (ADC12_IN9/TIM3_CH4) PWM_CH5 VCC_3V3 37 BOOT1 JP20 JTAG_TRST PB2 (BOOT1) 14 89 PB3 NRST PB3 (JTDO/TIM2_CH2) JTAG_TDO BOOT0 94 90 PB4 R7 BOOT0 BOOT0 PB4 (JTRST/TIM3_CH1) JTAG_TRST 91 PB5 C 10K PB5 (TIM3_CH2) PWM_CH3 C PE0 97 92 PB6 GPIO_0 PE0 PB6 (I2C1_SCL/TIM4_CH1) PE1 98 93 PB7 GPIO_1 PE1 PB7 (I2C1_SDA/TIM4_CH2) SW1 PE2 1 95 PB8 GPIO_2 PE2 PB8 (I2C1_SCL/CANRX/TIM4_CH3) SCL2/CANRX R10 SWITCH PE3 2 96 PB9 GPIO_3 PE3 PB9 (I2C1_SDA/CANTX/TIM4_CH4) SDA2/CANTX 1k PE4 3 47 PB10 C10 GPIO_4 PE4 PB10 (I2C2_SCL/TIM2_CH3) SCL1 PE5 4 48 PB11 100nF GPIO_5 PE5 PB11 (I2C2_SDA/TIM2_CH4) SDA1 PE6 5 51 PB12 GPIO_6 PE6 PB12 (TIM1_BKIN) PB12 PE7 38 52 PB13 GPIO_7 PE7 PB13 (SPI2_SCK/TIM1_CH1N) SPI2_SCK PE8 39 53 PB14 GPIO_8 PE8 PB14 (SPI2_MISO/TIM1_CH2N) SPI2_MISO PE9 40 54 PB15 (TO DATA_FLASH) GPIO_16 PE9 (TIM1_CH1) PB15 (SPI2_MOSI/TIM1_CH3N) SPI2_MOSI PE10 41 VCC_5V Settings (pay attention): GPIO_9 GPIO_10 PE11 42 PE10 PE11 (TIM1_CH2) DL2 SPI1_MISO 1 2 PE12 43 15 PC0 GREEN GPIO_11 PE12 PC0 (ADC12_IN10) ADC12_CH2 SPI1_SCK 3 4 SPI1_MOSI PE13 44 16 PC1 F10xxx F20xxx GPIO_12 PWM_IN3 PE14 45 PE13 (TIM1_CH3) PE14 (TIM1_CH4) PC1 (ADC12_IN11) PC2 (ADC12_IN12) 17 PC2 ADC12_CH3 ADC12_CH4 5 6 PE15 46 18 PC3 U$5 JP21 OPEN CLOSED GPIO_13 PE15 PC3 (ADC12_IN13) PC4 (ADC12_IN14) 33 PC4 ADC12_CH5 ADC12_CH6 STREAP_2X3 PD0 81 34 PC5 B JP24 CLOSED OPEN PWM_IN1 PWM_IN2 PD1 82 PD0 PD1 PC5 (ADC12_IN15) PC6 (TIM8_CH1) 63 PC6 ADC12_CH7 B PD2 83 64 PC7 JP23 CLOSED OPEN SDIO_CMD SD_DETECT PD3 84 PD2 (UART5_RX/SDIO_CMD) PD3 PC7 (TIM8_CH2) PC8 (TIM8_CH3/SDIO_D0) 65 PC8 USB_DISC SDIO_D0 PD4 85 66 PC9 JP25 OPEN CLOSED USB_PRESENT UART2_TX PD5 86 PD4 PD5 (USART2_TX) PC9 (TIM8_CH4/SDIO_D1) PC10 (UART4_TX/SDIO_D2) 78 PC10 SDIO_D1 SDIO_D2 U$1 PD6 87 79 PC11 STREAP_2X5 JP26 CLOSED 2.2uF 6V3 UART2_RX GPIO_17 PD7 88 PD6 (USART2_RX) PD7 PC11 (UART4_RX/SDIO_D3) PC12 (UART5_TX/SDIO_CK) 80 PC12 SDIO_D3 SDIO_CK VCC_3V3 PD8 55 7 PC13 C11 NP 2.2uF 6V3 UART3_TX UART3_RX PD9 56 PD8 (USART3_TX) PD9 (USART3_RX) PC13-TAMP-RTC PC14-OSC32_IN 8 PC14 GPIO_14 GPIO_15 1 3 2 4 JTAG_TMS JTAG_TCK PD10 57 9 PC15 GPIO_18 PD10 PC15-OSC32_OUT GPIO_19 5 6 JTAG_TDO PD11 58 73 PD11 NC 7 8 JTAG_TDI PD12 59 C25 PWM_IN4 PD12 (TIM4_CH1) 9 10 JTAG_TRST PD13 60 ARM 7 PWM_IN5 PD13 (TIM4_CH2) PD14 61 12 OSC_IN PWM_IN6 PD14 (TIM4_CH3) OSC_IN JP7 PD15 62 13 OSC_OUT 22pF PWM_IN7 PD15 (TIM4_CH4) OSC_OUT C11 C24 6 2.2uF 6V3 (NP) STM32F103VET6 X2 5 8MHz 4 VCC_5V (TO FT232) 22pF 3 UART1_RX A 2 UART1_TX A 1 LASER NAVIGATION S.r.L. STREAPM1x6 C7 Project Title: LN_MULTIPILOT Via Giacomo Matteotti 34 100nF 24054 Calcio (BG) Italy JTAG_TRST Sheet Title: Microcontroller Tel. / Fax: 0363-968520 / 969244 Questo documento non può essere Rev: 3.0 Date: 01/04/2011 Sheet 4 of 5 Web: www.radionav.it prodotto, usato o reso noto a terzi File: MULTIPILOT32_3_0.ddb E-Mail: info@radionav.it senza autorizzazione scritta 1 2 3 4
  • 4. 1 2 3 4 Iq = 500uA C3 D D 7 JP17 D1 VIN 100nF U2 VIN_DIODE 1 2 8 2 2 A K VIN BTS VCC 100uH 0.4A (wurth 744042101) 1 PMEG4005EH C4 + +5V_SWOUT D5 +5V +5V VCC_5V C1 C2 R1 10nF L1 2 STREAP_2x1 6 1 V_SWITCH 1 2 100nF RON SW A K 220k D2 PMEG4005EH F1 A K RTN 3 5 PMEG4005EH R2 R4 C5 miniSMDC050 22uF 25V (Vishay 168913) RCL FB 1.8k 1% (NP) 1k1 1% 22uF 16V (1210ZG226ZAT2A) + + LM25007MM 4 1 R5 1k 1% R6 100k 1% C6 C 22uF 16V (1210ZG226ZAT2A) C Iq = 4uA max VCC_5V VCC_5V B B U3 MCP1700T-3302E/MB VCC_3V3 R3 2 3 1k Vin Vout 4 GND Vin C19 + 1 C8 C9 22uF 6V TANT DL1 100nF 100nF RED A A LASER NAVIGATION S.r.L. Project Title: LN_MULTIPILOT Via Giacomo Matteotti 34 Sheet Title: 24054 Calcio (BG) Italy Power Supply Tel. / Fax: 0363-968520 / 969244 Questo documento non può essere Rev: 3.0 Date: 01/04/2011 Sheet 3 of 5 Web: www.radionav.it prodotto, usato o reso noto a terzi File: MULTIPILOT32_3_0.ddb E-Mail: info@radionav.it senza autorizzazione scritta 1 2 3 4
  • 5. 1 2 3 4 D TP2 TP3 TP4 TP5 TP6 VCC_3V3_ANA D EN R27 C27 GIRO+ACCEL MISO MOSI SCK 1K 100nF CS 3 U5 MPU-6000 R26 1 TP1 GPIO_10 6 8 100R AUX_DA CS/VLOGIC GPIO_9 Q3 7 9 AUX_CL AD0_SCO SPI2_MISO EOC 24 NTR1P02T1 SDA/SDI SPI2_MOSI 22 23 2 CLKOUT SCL/SCLK SPI2_SCK VCC_IMU GYRO_EOC GPIO_18 12 1 R25 INT CLKIN 11 FSYNC 0R 20 CPUOT 13 10 VCC_IMU VDD REGOUT 18 TP7 VCC_3V3 VCC_3V3_ANA GND L2 2 100nF NC 21 3 C18 RESV NC VCC R28 19 4 10uH (LQH31MN100K03L) C RESV NC 1R C 5 NC NC NC NC NC C20 C23 100nF 10nF C28 C26 4.7uF 6V3 100nF 17 16 15 14 TP8 GND Iq = 3.9mA OBJ7 HOLE_2MM OBJ8 B B HOLE_2MM A A LASER NAVIGATION S.r.L. Project Title: LN_MULTIPILOT Via Giacomo Matteotti 34 Sheet Title: 24054 Calcio (BG) Italy IMU Tel. / Fax: 0363-968520 / 969244 Questo documento non può essere Rev: 3.0 Date: 01/04/2011 Sheet 5 of 5 Web: www.radionav.it prodotto, usato o reso noto a terzi File: MULTIPILOT32_3_0.ddb E-Mail: info@radionav.it senza autorizzazione scritta 1 2 3 4