Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
Desenvolvimento de um VeÃculo Aéreo Não-Tripulado - LARA ...
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ANU Project a Radio Stack<br />
Rev. B1 a Sheet 1/2<br />
Design/Engineering: Felipe Brandão Cavalcanti<br />
A A<br />
COJ1<br />
COJ8<br />
COJ9<br />
GND<br />
PIJ101 22 PIJ1022<br />
GND<br />
PIJ801<br />
PIJ901<br />
RADIO_5V COR1 PIJ102 23 PIJ1023 COR8<br />
RADIO_5V<br />
PIJ802<br />
PIJ902<br />
RADIO_INPUT_1_PREBUF PIR102 PIR101 PIJ103 24 PIJ1024 PIR801 PIR802 RADIO_INPUT_8_PREBUF<br />
PIJ803<br />
PIJ903<br />
Res1<br />
Res1<br />
PIJ804 GPS_RX<br />
PIJ904<br />
GND 220 PIJ104 19 PIJ1019 220<br />
GND<br />
PIJ805 GPS_TX<br />
PIJ905<br />
RADIO_5V COR2 PIJ105 20 PIJ1020 COR7<br />
RADIO_5V<br />
PIJ806 SCP1000_CS<br />
PIJ906<br />
RADIO_INPUT_2_PREBUF PIR202 PIR201 PIJ106 21 PIJ1021 PIR701 PIR702 RADIO_INPUT_7_PREBUF<br />
PIJ807 SCP1000_DRDY<br />
AVR2_DRDY PIJ907<br />
Res1<br />
Res1<br />
PIJ808 AVR_SCK<br />
AVR1_DRDY PIJ908<br />
GND 220 PIJ107 16 PIJ1016 220<br />
GND<br />
PIJ809 AVR_MISO<br />
PIJ909<br />
RADIO_5V COR3 PIJ108 17 PIJ1017 COR6<br />
RADIO_5V<br />
10 PIJ8010 AVR_MOSI<br />
PIJ9010 10<br />
RADIO_INPUT_3_PREBUF PIR302 PIR301 PIJ109 18 PIJ1018 PIR601 PIR602 RADIO_INPUT_6_PREBUF<br />
11 PIJ8011 AVR1_CS<br />
PIJ9011 11<br />
Res1<br />
Res1<br />
12 PIJ8012 AVR2_CS<br />
CURRENT_OUT PIJ9012 12<br />
GND 220 PIJ1010 10 13 PIJ1013 220<br />
GND<br />
13 PIJ8013 LPC_RX<br />
LIPO_CELL_3_BUFFERED PIJ9013 13<br />
RADIO_5V COR4 PIJ1011 11 14 PIJ1014 COR5<br />
RADIO_5V<br />
14 PIJ8014 LPC_TX<br />
LIPO_CELL_2_BUFFERED PIJ9014 14<br />
RADIO_INPUT_4_PREBUF PIR402 PIR401 PIJ1012 12 15 PIJ1015 PIR501 PIR502 RADIO_INPUT_5_PREBUF<br />
15 PIJ8015<br />
LIPO_CELL_1_BUFFERED PIJ9015 15<br />
Res1<br />
Res1<br />
220 HDR3x8<br />
16 PIJ8016<br />
TEMPERATURE_OUT PIJ9016 16<br />
220<br />
PWM Inputs<br />
17 PIJ8017<br />
DIFFERENTIAL_PRESSURE_OUT PIJ9017 17<br />
COJ7<br />
18 PIJ8018<br />
PIJ9018 18<br />
19 PIJ8019<br />
PIJ9019 19<br />
GND<br />
PIJ701 22 PIJ7022<br />
GND<br />
20 PIJ8020<br />
PIJ9020 20<br />
RADIO_5V PIJ702 23 PIJ7023 RADIO_5V<br />
21 PIJ8021<br />
PIJ9021 21<br />
RADIO_OUTPUT_1 PIJ703 24 PIJ7024 RADIO_OUTPUT_8<br />
22 PIJ8022<br />
PIJ9022 22<br />
23 PIJ8023<br />
PIJ9023 23<br />
GND<br />
PIJ704 19 PIJ7019<br />
GND<br />
B GND<br />
24 PIJ8024 +5<br />
PIJ9024 24<br />
RADIO_5V PIJ705 20 PIJ7020 RADIO_5V<br />
B<br />
25 PIJ8025<br />
PIJ9025 25<br />
RADIO_OUTPUT_2 PIJ706 21 PIJ7021 RADIO_OUTPUT_7<br />
Hea<strong>de</strong>r 25<br />
Board to Board Interconnects<br />
Hea<strong>de</strong>r 25<br />
GND<br />
PIJ707<br />
RADIO_5V PIJ708<br />
RADIO_OUTPUT_3 PIJ709<br />
16 PIJ7016<br />
GND<br />
17 PIJ7017 RADIO_5V<br />
18 PIJ7018 RADIO_OUTPUT_6<br />
GND PIJ7010 10 13 PIJ7013<br />
GND<br />
RADIO_5V PIJ7011 11 14 PIJ7014 RADIO_5V<br />
RADIO_OUTPUT_4 PIJ7012 12 15 PIJ7015 RADIO_OUTPUT_5<br />
+5<br />
PIC1301<br />
PIC1302<br />
C13<br />
Tantal<strong>um</strong><br />
10uF<br />
GND<br />
COU6<br />
IN<br />
GND<br />
OUT<br />
OUT<br />
REG1117-3.3<br />
Power Supply<br />
+3V3<br />
COF1<br />
+3V3<br />
PIF101 PIF102<br />
COC14<br />
0.5A PTC<br />
C14<br />
PID101<br />
Tantal<strong>um</strong><br />
10uF<br />
PIU603<br />
PIU602<br />
COC13 PIC1401<br />
PIU601<br />
PIU604<br />
PIC1402<br />
PID102<br />
PIR1902<br />
COR19<br />
PIR1901<br />
GND<br />
R19<br />
Res1<br />
220<br />
COD1<br />
LED0<br />
RADIO_5V<br />
PIR2002<br />
SPEKTRUM_SERIAL<br />
Micro JST Connector (ZHR-3)<br />
Spektr<strong>um</strong> AR7000 Serial Input<br />
AVR_VCC COU1<br />
COR20<br />
AVR_VCC<br />
COU2<br />
19<br />
Res1<br />
19<br />
PIU106<br />
C VCC<br />
ADC6 PIU1019<br />
PIU206 VCC<br />
ADC6 PIU2019<br />
PIC501<br />
PIC601<br />
22<br />
PIR200110K<br />
PIC801<br />
PIC901<br />
22<br />
C<br />
PIU104 VCC<br />
ADC7 PIU1022<br />
PIU204 VCC<br />
ADC7 PIU2022<br />
COC5 C5<br />
COC6 C6<br />
PIR2102<br />
C8 COC8<br />
COC9 C9<br />
PIC502 Cap<br />
PIC602 Cap 18<br />
23<br />
COR21<br />
PIC802 Cap<br />
PIC902 Cap 18<br />
23<br />
PIU1018 AVCC<br />
PC0 (ADC0/PCINT8) PIU1023<br />
100nF 100nF<br />
RADIO_INPUT_1<br />
PIU2018 AVCC<br />
PC0 (ADC0/PCINT8) PIU2023<br />
24<br />
Res1<br />
100nF 100nF<br />
AVR_OUTPUT_1<br />
24<br />
PC1 (ADC1/PCINT9) PIU1024 RADIO_INPUT_2<br />
PC1 (ADC1/PCINT9) PIU2024 AVR_OUTPUT_2<br />
20<br />
25<br />
PIR210110K<br />
20<br />
25<br />
PIU1020 AREF PC2 (ADC2/PCINT10) PIU1025 RADIO_INPUT_3<br />
PIU2020 AREF PC2 (ADC2/PCINT10) PIU2025 AVR_OUTPUT_3<br />
PIC701<br />
26<br />
26<br />
C7<br />
PC3 (ADC3/PCINT11) RADIO_INPUT_4<br />
PIC1001<br />
PIU1026<br />
COC7<br />
PC3 (ADC3/PCINT11) PIU2026<br />
27<br />
COC10 C10<br />
AVR_OUTPUT_4<br />
27<br />
Cap<br />
PC4 (ADC4/SDA/PCINT12) PIU1027 RADIO_INPUT_5<br />
PC4 (ADC4/SDA/PCINT12) PIU2027<br />
28<br />
Cap<br />
AVR_OUTPUT_5<br />
PIC702<br />
GND<br />
28<br />
100nF<br />
PC5 (ADC5/SCL/PCINT13) RADIO_INPUT_6<br />
PIC1002<br />
PIU1028<br />
PC5 (ADC5/SCL/PCINT13) PIU2028<br />
29<br />
100nF<br />
AVR_OUTPUT_6<br />
29<br />
PC6 (RESET/PCINT14) PIU1029 AVR1_RESET<br />
PC6 (RESET/PCINT14) PIU2029 AVR2_RESET<br />
GND<br />
+3V3<br />
PIJ201<br />
PIJ202<br />
PIJ203<br />
COJ2<br />
HDR3x8<br />
PWM Inputs<br />
1 - Serial<br />
2 - GND<br />
3 - 3V3<br />
Radio Connectors<br />
+3V3<br />
GND<br />
PIC201<br />
PIC202<br />
COC2 C2<br />
Cap<br />
100nF<br />
RADIO_5V<br />
GND<br />
PIC301<br />
PIC302<br />
C3 COC3<br />
Cap<br />
100nF<br />
PIC401<br />
PIC402<br />
C4 COC4<br />
Tantal<strong>um</strong><br />
10uF<br />
GND<br />
PWM_DATA_LED SERIAL_DATA_LED<br />
PID201<br />
PID301<br />
PD0 (RXD/PCINT16)<br />
PD1 (TXD/PCINT17)<br />
PD2 (INT0/PCINT18)<br />
PD3 (PCINT19/OC2B/INT1)<br />
PD4 (PCINT20/XCK/T0)<br />
PD5 (PCINT21/OC0B/T1)<br />
PD6 (PCINT22/OC0A/AIN0)<br />
PD7 (PCINT23/AIN1)<br />
30<br />
PIU1030<br />
31<br />
PIU1031<br />
32<br />
PIU1032<br />
PIU101<br />
PIU102<br />
PIU109<br />
10 PIU1010<br />
11<br />
PIU1011<br />
GND<br />
30<br />
SPEKTRUM_SERIAL PD0 (RXD/PCINT16) PIU2030<br />
COJ5<br />
SPEKTRUM_SERIAL<br />
31<br />
PD1 (TXD/PCINT17) PIU2031<br />
32<br />
RADIO_INPUT_7<br />
PIJ502 +3V3<br />
PD2 (INT0/PCINT18) PIU2032 GENERATE_SPEKTRUM_SIGNAL<br />
RADIO_INPUT_8<br />
PIJ501 AVR_VCC<br />
PD3 (PCINT19/OC2B/INT1) PIU201 AVR_OUTPUT_7<br />
MUX_CONTROL<br />
PD4 (PCINT20/XCK/T0) PIU202 AVR_OUTPUT_8<br />
AVR Power Supply<br />
GENERATE_SPEKTRUM_SIGNAL<br />
PD5 (PCINT21/OC0B/T1) PIU209 AVR2_DRDY<br />
UNCONNECT J5 to program AVRsa<br />
10<br />
PD6 (PCINT22/OC0A/AIN0) PIU2010<br />
11<br />
PD7 (PCINT23/AIN1) PIU2011<br />
12<br />
COJ6<br />
12<br />
PB0 (PCINT0/CLKO/ICP1) PIU1012 PWM_DATA_LED<br />
PB0 (PCINT0/CLKO/ICP1) PIU2012<br />
13<br />
13<br />
PB1 (PCINT1/OC1A) PIU1013<br />
SERIAL_DATA_LED GND PIJ601 1 2 PIJ602 GND<br />
PB1 (PCINT1/OC1A) PIU2013<br />
COD2<br />
COD3<br />
14<br />
14<br />
PB2 (PCINT2/SS/OC1B) PIU1014 AVR1_CS AVR_RESET PIJ603 3 4 PIJ604 AVR_SCK<br />
PB2 (PCINT2/SS/OC1B) PIU2014<br />
LED0<br />
LED0<br />
AVR2_CS<br />
15<br />
15<br />
PB3 (PCINT3/OC2A/MOSI) PIU1015 AVR_MOSI AVR_MOSI PIJ605 5 6 PIJ606 AVR_MISO<br />
PB3 (PCINT3/OC2A/MOSI) PIU2015<br />
PID202<br />
PID302<br />
AVR_MOSI<br />
16<br />
16<br />
PB4 (PCINT4/MISO) PIU1016 AVR_MISO AVR_VCC PIJ607 7 8 PIJ608 AVR_VCC<br />
PB4 (PCINT4/MISO) PIU2016 AVR_MISO<br />
PIR2402<br />
PIR2502<br />
17<br />
17<br />
PIU103 GND<br />
PB5 (SCK/PCINT5) PIU1017 AVR_SCK<br />
PIJ609 9 10 PIJ6010<br />
PIU203 GND<br />
PB5 (SCK/PCINT5) PIU2017 AVR_SCK<br />
COR24<br />
COR25<br />
PIU105 GND PB6 (PCINT6/XTAL1/TOSC1) PIU107<br />
PIU205 GND PB6 (PCINT6/XTAL1/TOSC1) PIU207<br />
Res1<br />
Res1 21<br />
AVR ISP<br />
21<br />
PIU1021 GND PB7 (PCINT7/XTAL2/TOSC2) PIU108<br />
GND PB7 (PCINT7/XTAL2/TOSC2)<br />
D<br />
220<br />
220<br />
AVR1_DRDY<br />
PIU2021<br />
PIU208<br />
PIR2401<br />
PIR2501<br />
D<br />
ATmega88A-AU<br />
COJ3<br />
ATmega88A-AU<br />
GND<br />
GND<br />
PIJ303 AVR1_RESET<br />
GND<br />
GND<br />
This AVR is responsible for reading the radios (PWM or serial) and<br />
PIJ302 AVR_RESET<br />
sending the data to the main controller.<br />
This AVR is responsible for generating the output PWM signals.<br />
PIJ301 AVR2_RESET<br />
This will also control the MUX for safety switching.<br />
Programming Select<br />
AVR 1 - Signal Rea<strong>de</strong>r AVR 2 - Signal Generator<br />
1<br />
1<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
9<br />
3<br />
1<br />
6<br />
4<br />
3<br />
5<br />
2<br />
2<br />
2<br />
4<br />
1<br />
2<br />
9<br />
7<br />
8<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
9<br />
3<br />
3<br />
2<br />
1<br />
3<br />
2<br />
1<br />
4<br />
4<br />
1<br />
2<br />
3<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
9<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
9<br />
6<br />
4<br />
3<br />
5<br />
5<br />
5<br />
1<br />
2<br />
9<br />
7<br />
8<br />
6<br />
6<br />
Figura I.4: Esquemático do stack <strong>de</strong> rádios<br />
196
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