5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

TCK

TCKTDOTMS

TDI

GNDVCC_5VRESET#

GND

MISOSCK

VCC_5VMOSIGNDRESET#

RXD0TXD0

RESET#

RX3

MOSIRESET#

SCKMISO

TMS

TDITDO

RX1

I2C_SDAI2C_SCL

VCC_3.3GND

TXD0

GND

RXD0

RTS#

RX2

RX4

RX1RX2RX3RX4

RXD1TXD1VCC_3.3

GND

VCC_3.3

VCC_5VVCC_12V

VCC_5V

VCC_5V

VCCA_5V

VCCA_5V

VCC_3.3

VCC_5V

VCC_12V

VCC_12V

VCC_3.3

VCC_5VVCC_5V

VCC_5VVCC_5V

VCC_5V

VCC_5V

VCC_3.3

VCC_3.3

VCC_3.3

Accl-XAccl-YAccl-ZGyro-XGyro-YGyro-Z

Auto-Zero

Title

Size Document Number Rev

Date: Sheet of

1.1

Quadrotor Board : Processor Sheet

1 2Monday, June 01, 2009

Title

Size Document Number Rev

Date: Sheet of

1.1

Quadrotor Board : Processor Sheet

1 2Monday, June 01, 2009

Title

Size Document Number Rev

Date: Sheet of

1.1

Quadrotor Board : Processor Sheet

1 2Monday, June 01, 2009

2 pole RC filter, to filterout noise of motors fromaffecting sensor signals.

Xbee Module can be used forbootloading.

Four screw terminals to distributepower to BLDC ESC's.

D1DIODE

D1DIODE

J7

FTDI Cable

J7

FTDI Cable

GND 1

CTS 2

VCC 3

TXD 4

RXD 5

RTS 6

J6

BLDC PWR4

J6

BLDC PWR4

12

R410KR410K

J5

BLDC PWR3

J5

BLDC PWR3

12

R11

3.3K

R11

3.3K

J4

Sonar

J4

Sonar123

R8 10KR8 10K

C15 18pFC15 18pF

C1

4.7uF

C1

4.7uF

J20

RX Ch 1&2

J20

RX Ch 1&2

246

135

J14J14

123456

U2TLV1117

U2TLV1117

VIN3 Out 2

GN

D1

Out 4

C33

4.7uF

C33

4.7uF

C4

100uF

C4

100uF

C2

1000uF

C2

1000uF

C94.7uFC94.7uF

Y120MHz

Y120MHz

J18ISPJ18ISP

246

135

C13 18pFC13 18pF

C84.7uF

C84.7uF

J1

BLDC PWR1

J1

BLDC PWR1

12 J2

Pwr InJ2

Pwr In

12

C104.7uFC104.7uF

J9

ESC1&2

J9

ESC1&2

246

135

J10

Xbee module

J10

Xbee module

VCC1

Dout2

Din3

DIO84

RESET5

RSSI6

DIO117

NC8

DTR9

DIO4 11CTS 12ON 13NC 14

DIO5 15RTS 16

DIO3 17DIO2 18DIO1 19DIO0 20

GND10

R7 10KR7 10K

R26600R26600

C3

100uF

C3

100uF

U1

7805

U1

7805

VIN1 VOUT 3

GN

D2

J3

BLDC PWR2

J3

BLDC PWR2

12

R2 10KR2 10K

C7

4.7uF

C7

4.7uFC12

4.7uF

C12

4.7uF

R3 10KR3 10K

D3

LED

D3

LED

J21

RX Ch 3&4

J21

RX Ch 3&4

246

135

J12

ESC 3&4

J12

ESC 3&4

246

135

L1

100uH

L1

100uH

U3

ATMega644P

U3

ATMega644P

PB0/(XCK0/T0) 40

PB1/(CLK0/T1) 41

PB2/(INT2/AIN0) 42

PB3/(OC0A/AIN1) 43

PB4/(OC0B/SS) 44

PB5/(MOSI)1

PB6(MISO)2

PB7/(SCK)3

RESET4

XTAL27

XTAL18

PD0/(RXD0)9

PD1/(TXD0)10

PD2/(RXD1/INT0)11

PD3/(TXD1/INT1)12

PD4/(XCK1/OC1B) 13

PD5/(OC1A) 14

PD6/(OC2B/ICP) 15PD7/(OC2A) 16

VC

C#5

5

GN

D#6

6

GN

D#1

818

PA7/(ADC7) 30PA6/(ADC6) 31PA5/(ADC5) 32PA4/(ADC4) 33

PA2/(ADC2) 35

PA3/(ADC3) 34

PA1/(ADC1) 36PA0/(ADC0) 37

PC0/(SCL)19

PC1/(SDA)20

PC2/(TCK)21

PC3/(TMS)22

PC4/(TDO)23

PC5/(TDI)24

PC6/(TOSC1) 25

PC7/(TOSC2) 26

AV

CC

27

AR

EF

29

VC

C#1

717

GN

D#2

628

VC

C#3

838

GN

D#3

939

J27

GPS

J27

GPS

12345678

C16100nFC16100nF

SW1SW11 4

2 35

C11

4.7uF

C11

4.7uF

R27 3.3KR27 3.3K

R10

3.3K

R10

3.3K

C6

100uF

C6

100uF

R253.3KR253.3K

J19JTAGJ19JTAG

246810

13579

C14 100nFC14 100nF

C5

4.7uF

C5

4.7uF

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

GND

VCCA_5V

VCCA_5VVCCA_5V

VCCA_5V

VCCA_5VVCCA_5V

VCC_3.3

VCC_3.3

VCC_3.3

VCC_3.3

VCC_5V

Gyro-Z

Accl-Y

Auto-Zero

Accl-Z

Gyro-YGyro-X

Accl-X

Title

Size Document Number Rev

Date: Sheet of

<Doc> 1.1

Quadrotor Board : Sensor Sheet

2 2Sunday, May 31, 2009

Title

Size Document Number Rev

Date: Sheet of

<Doc> 1.1

Quadrotor Board : Sensor Sheet

2 2Sunday, May 31, 2009

Title

Size Document Number Rev

Date: Sheet of

<Doc> 1.1

Quadrotor Board : Sensor Sheet

2 2Sunday, May 31, 2009

Mount the break out boards flat and touching the PC Bboards. This will reduce any mechanical vibration a ndprovide cleaner signals.

Butterworth 4 pole filter. Cutoff frequency is currently set to 50Hz. ChangeR24, C39 to change cut off frequency.Current measurement is optional. The way it is

routed on the board, it need not be populated fornormal operation of the board. To use currentmeasurement feature, cut open the trace betweenpins 2 and 3.

R19

33.8K

R19

33.8K

C294.7uFC294.7uF

U10

ACS713

U10

ACS713

IP1+1

IP2+2

IP1-3

IP2-4Filt 6Out 7Vcc 8

Gnd 5

J26

LISY300AL-brk

J26

LISY300AL-brk

ST1PD2Out3GND4VCC335

C194.7uFC194.7uF

C27

1uF

C27

1uF

C25

1uF

C25

1uF

J25

Jumper-3p

J25

Jumper-3p

U5

TLC04

U5

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

C264.7uFC264.7uF

C354.7uFC354.7uF

C284.7uFC284.7uF

C22

1uF

C22

1uF

R16

33.8K

R16

33.8K

C34CAP NPC34CAP NP

C304.7uFC304.7uF

R2210KR2210K

R2110KR2110K

C21

1uF

C21

1uF

U9

TLC04

U9

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

U8

TLC04

U8

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

U4

TLC04

U4

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

C184.7uFC184.7uF

R15

33.8K

R15

33.8K

J24

IDG500-brk

J24

IDG500-brk

VCC1

Xout2

X4.5out3

Yout4

Y4.5out5

Vref6

Ptats7

AZ8

GND9

R24

33.8K

R24

33.8K

R1810KR1810K

R23

33.8K

R23

33.8K

R1710KR1710K

C174.7uFC174.7uF

J28

HEADER 1

J28

HEADER 11

C204.7uFC204.7uF

C234.7uFC234.7uF

C32

1uF

C32

1uF

J23

Jumper-3p

J23

Jumper-3p

C31

1uF

C31

1uF

U7

TLC04

U7

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

U6

TLC04

U6

TLC04

CLKIN 1

CLKR 2

LS3

Vcc

-4

OUT5

IN 8

VC

C+

7

AGND6

C244.7uFC244.7uF

J22

MMA7260Q-brk

J22

MMA7260Q-brk

VCC1

GND2

Xaxis3

Yaxis4

Zaxis5

GS16

GS27

SLEEP8

R20

33.8K

R20

33.8K