UNIVERSITY OF TARTU Faculty of science and technology Institute of technology Hannes Haljaste ...

UNIVERSITY OF TARTU Faculty of science and technology Institute of technology

Hannes Haljaste ELECTRONICS DESIGN AND TESTING FOR ESTCUBE-2 ON-BOARD COMPUTER SYSTEM WITH SENSORS FOR ATTITUDE DETERMINATION Master’s thesis (30 EAP)

Supervisors: M.Sc. Indrek S¨unter M.Sc. Viljo Allik

Tartu 2017

Abstract Electronics design and testing for ESTCube-2 on-board computer system with sensors for attitude determination ESTCube-2 will be a 3U picosatellite planned to launch in 2019 to perform experiments in low Earth orbit. On-board computer system is required to control the satellite while powered up and has to provide computational power and reliable storage for other subsystems. Attitude and orbit control system is responsible for satellite’s detumbling, pointing, spin-up and for controlling thrusters. This thesis presents a prototype electronics board developed for both systems. On-board computer system features STMicroelectronics Cortex-M7 microcontroller with common bus interfaces and point-to-point signaling lines for all other systems planned for ESTCube-2. Data and programs are stored in three types of external non-volatile memories QSPI NOR flash, FRAM and MRAM. For attitude determination sensors a dedicated connector and a demonstration prototype expansion board were developed featuring magnetometer, accelerometer and two gyroscopes. To test the developed boards simple firmware was written using manufacturer’s provided hardware abstraction layer and an initialization source code generator. CERCS: T170 Electronics, T320 Space technology Keywords: miniaturized satellite, on-board computer system, attitude and orbit control system, electronics, ESTCube-2, Cortex-M7, MRAM, FRAM, QSPI flash

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¨ Resumee Elektroonika projekteerimine ja testimine ESTCube-2 pardaarvutile koos asendi m¨aa¨ ramise sensoritega ESTCube-2 saab olema 3U suurune kuupsatelliit, mis saadetakse Maa orbiidile 2019. aastal. Pardaarvuti on vajalik, et juhtida satelliidi t¨oo¨ d ja pakkuda arvutusj˜oudlust ja usaldusv¨aa¨ rset andmete s¨ailitamist teistele alams¨usteemidele ja eksperimendimoodulitele. Asendi ja orbiidi juhtimise s¨usteem peab suutma stabiliseerida ja suunata satelliiti etten¨ahtud suunas ning samuti panna satelliit p¨oo¨ rlema ning orbiiti muutma t¨aiturite abil. Selle t¨oo¨ eesm¨ark oli v¨alja t¨oo¨ tada pardaarvuti protot¨uu¨ bi elektroonika koos asendi m¨aa¨ ramise sensoritega. Pardaarvuti jaoks kasutati STMicroelectronics Cortex-M7 mikrokontrollerit ja seda kasutades loodi andmeside¨uhendused teiste satelliidi alams¨usteemidega. Andmete talletamiseks kasutati kolme v¨alist s¨ailm¨alu - QSPI NOR v¨alkm¨alu, FRAM ja MRAM. Asendi m¨aa¨ ramise sensorite jaoks arendati eraldi elektroonika laiendusplaat, mille peal on magnetomeeter, kiirendusandur ja kaks g¨uroskoopi. Elektroonika testimiseks kirjutati p¨usivara, milleks kasutati mikrokontrolleri tootja poolt pakutavat riistvara abstraktsioonikihti ja l¨ahtekoodi generaatorit. CERCS: T170 Elektroonika, T320 Kosmosetehnoloogia Keywords: kuupsatelliit, pardaarvuti, asendi ja orbiidi juhtimise s¨usteem, elektroonika, ESTCube2, Cortex-M7, MRAM, FRAM, QSPI v¨alkm¨alu

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Contents Abstract

2

¨ Resumee

3

List of Figures

5

List of Tables

7

List of Listings

8

Abbreviations

9

1

Introduction 1.1 Thesis goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Space environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 Other on-board computer systems . . . . . . . . . . . . . . . . . . . . . . . .

10 10 11 11

2

Hardware 2.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 On-board computer system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Attitude determination sensors . . . . . . . . . . . . . . . . . . . . . . . . . .

13 14 16 24

3

Software 3.1 Development tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Hardware validation and testing firmware . . . . . . . . . . . . . . . . . . . .

26 26 27

4

Results

28

Conclusion

30

Acknowledgements

31

References

32

Annexes

36

Non-exclusive licence

85

4

List of Figures 2.1 2.2 2.3 2.4

Block diagram of ESTCube-2 with communication buses from on-board computer system’s view. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Block diagram of the memories used in the on-board computer system and their communication buses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Onboard computer system’s power configuration options. . . . . . . . . . . . . Block diagram with one of two attitude determination sensor groups and its connections to the on-board computer system. . . . . . . . . . . . . . . . . . .

3.1

Part of the Altium Designer project tree with hierarchical structure. . . . . . . .

4.1

3D PCB models and assembled PCB image of on-board computer system prototype board and attitude determination sensor expansion board. . . . . . . . . On-board computer system connectors with system’s high level overview. . . . On-board computer system’s bus schematic between different parts. . . . . . . On-board computer system’s ICP schematic. . . . . . . . . . . . . . . . . . . . Attitude and orbit control system’s component connection schematic on onboard computer system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-board computer systems payload interfaces schematic. . . . . . . . . . . . QSPI flash memory components schematic. . . . . . . . . . . . . . . . . . . . Temperature sensor components schematic. . . . . . . . . . . . . . . . . . . . USB debug interface and power source selection schematic. . . . . . . . . . . . Microcontroller’s connections and support peripherals schematic. . . . . . . . . I/O expander schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 V reference schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Magnetoresistive random-access memory schematic. . . . . . . . . . . . . . . QSPI NOR flash schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . FRAM schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Real time clock schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . Temperature sensor schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . 40 mA current limit power switch schematic. . . . . . . . . . . . . . . . . . . Adjustable current limit power switch schematic. . . . . . . . . . . . . . . . . Current sense amplifier schematic. . . . . . . . . . . . . . . . . . . . . . . . . CAN bus driver schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . Half duplex RS485 driver schematic. . . . . . . . . . . . . . . . . . . . . . . . On-board computer system’s AOCS connector schematic. . . . . . . . . . . . . 3-to-8 decoder schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-channel bus switch schematic. . . . . . . . . . . . . . . . . . . . . . . . . . 8-channel bus switch schematic. . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 4.14 4.15 4.16 4.17 4.18 4.19 4.20 4.21 4.22 4.23 4.24 4.25 4.26

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13 18 21 24 26 29 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64

4.27 On-board computer system’s printed circuit board layer 1 - component and signal plane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.28 On-board computer system’s printed circuit board layer 2 - ground plane. . . . 4.29 Onboard computer system’s printed circuit board layer 3 - signal plane. . . . . 4.30 On-board computer system’s printed circuit board layer 4 - signal plane. . . . . 4.31 On-board computer system’s printed circuit board layer 5 - power plane. . . . . 4.32 On-board computer system’s printed circuit board layer 6 - component and signal plane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.33 Attitude and orbit control system and its connector schematic. . . . . . . . . . 4.34 Attitude and orbit control system’s connections schematic. . . . . . . . . . . . 4.35 Analog to digital converter’s schematic. . . . . . . . . . . . . . . . . . . . . . 4.36 Accelerometer schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.37 Magnetometer schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.38 Gyroscope schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.39 Attitude and orbit control system’s temperature sensor schematic. . . . . . . . 4.40 Attitude and orbit control system’s printed circuit board layer 1 - component and signal plane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.41 Attitude and orbit control system’s printed circuit board layer 2 - ground plane. 4.42 Attitude and orbit control system’s printed circuit board layer 3 - signal plane. . 4.43 Attitude and orbit control system’s printed circuit board layer 4 - signal plane. . 4.44 Attitude and orbit control system’s printed circuit board layer 5 - power plane. . 4.45 Attitude and orbit control system’s printed circuit board layer 6 - component and signal plane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.46 On-board computer system block diagram. . . . . . . . . . . . . . . . . . . . .

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65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84

List of Tables 2.1 2.2 2.3 4.1 4.3

Comparison between different microcontrollers considered for the on-board computer system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-board computer system’s external memory comparison (ordered by clock rate). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-board computer system interrupt lines and their assignment with the current design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Onboard computer system’s bill of materials. . . . . . . . . . . . . . . . . . . Attitude and orbit control system’s expansion board bill of materials. . . . . . .

7

16 19 22 38 39

List of Listing 3.1

Simple USB debugging interface that supports commands separated by the newline character in main function. . . . . . . . . . . . . . . . . . . . . . . . . . .

8

27

Abbreviations OBCS AOCS CHDS EPS COM TID SEU SEL COTS MRAM FRAM SPI QSPI I2 C UART USART CAN USB I/O GPIO EXTI FPU ADC PCB RTC LED SWD SWO

- On-board computer system - Attitude and orbit control system - Command and data handling system - Electrical power system - Communications system - Total ionizing doze - Single event upset - Single event latch-up - Commercial off-the-shelf - Magnetoresistive random-access memory - Ferroelectric random-access memory - Serial peripheral interface - Quad serial peripheral interface - Inter-integrated circuit - Universal asynchronous receiver/transmitter - Universal synchronous/asynchronous receiver/transmitter - Controller area network - Universal serial bus - Input/output - General purpose input output - External interrupt/event controller - floating point unit - Analog to digital converter - Printed circuit board - Real time clock - Light emitting diode - Serial wire debug - Serial wire output

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1 Introduction Space technology is a fast growing industry with advancements going on in areas like space mining and solar system exploration. Since distances in space are vast and traveling from one place to another takes a lot of time and fuel for conventional propulsion engines, a better way is needed. The electric solar wind sail offers a possible solution [1]. It uses solar wind ions and long, thin electrically charged wires to generate thrust. To test the technical solution ESTCube1 mission was launched, but since it was not able to conduct the experiment [2], a new one is planned. ESTCube-2 will be a one part of the next two missions to test Coulomb drag propulsion and plasma brake [3]. In the case of ESTCube-2 the experiment will be conducted in low Earth orbit while ESTCube-3 is planned to perform the experiment in solar wind intersecting orbit. ESTCube-2 will be a miniaturized satellite of 3U defined in ”CubeSat Design Specification” [4]. Its dimensions will be around 10 x 10 x 30 cm and it will weigh less than 4 kg. This confined space will host the following systems: electrical power system (EPS), communications system (COM), scientific payloads, on-board control system (OBCS) and attitude and orbit control system (AOCS) [5]. All of them have a specific purpose and must communicate with each other for a successful mission. The goal of this thesis is to develop prototype electronics board for OBCS and AOCS. The main focus will be on on-board computer system which is used scheduling, distribution and handling of telecommands, satellite health monitoring, hosting algorithms for attitude determination and control, providing compression and storage of mission data for most of the payloads. Since the selection of the attitude determination sensors is not final, the sensors would be implemented on expansion boards to aid in the characterization of new sensors. Finally hardware functionality testing must be performed.

1.1

Thesis goals

1. 2. 3. 4.

Develop schematics for on-board computer system. Develop schematics for attitude determination sensors. Create PCB design for on-board computer system. Create PCB design featuring attitude determination sensors for attitude and orbit control system. 5. Assemble first prototype boards. 6. Write firmware for hardware functionality testing.

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1.2

Space environment

Satellites in low Earth orbit and in outer space are not protected from radiation - without the atmosphere they are affected by trapped particles in Earth’s magnetic field, particles from solar events and cosmic rays [6]. With the ESTCube-2 mission taking place in low Earth orbit, it will be mainly susceptible to trapped protons and electrons, galactic cosmic ray ions, interplanetary solar flare protons and alpha particles, heavy ions [7]. In circuits three different kinds of damages can be caused by these particles. • Total ionizing doze (TID) damage • Single event upset (SEU) • Single event latch-up (SEL) Accumulating TID causes rapid aging of electronic components. In low Earth orbit, a few years may be enough to cause commercial off-the-shelf (COTS) components to fail completely. For example, the effects may be permanently increased leakage currents, drifts in voltage levels and clock frequencies. If special radiation hardened components are used, mean time to failure will typically be well over 10 years. [8] For a short mission taking place only for two years, COTS components can successfully be used. Compared to the space grade components, they have a lot lower price, weigh less and are smaller. COTS components are widely available and have good documentation and good support for software development. Single event upsets and single event latch-ups can be caused by particles with high kinetic energy. Single event upsets are non-destructive and create soft errors including volatile bit flips in memory and registers. These sorts of errors can be detected and corrected by software using error correction algorithms. More concerning from electronics point of view are single event latch-up events, where charged particles create high current paths in CMOS substrate that can permanently damage components. Latch-up protection should be implemented in the electronics design to power off the component with internal short circuit and allow for the charges to dissipate before switching it back on. [8]

1.3

Other on-board computer systems

During normal operations ESTCube-1 was controlled by the command and data handling system (CDHS). It stored mission and housekeeping data from all subsystems. CDHS also ran all the processes for the attitude determination and control system. It featured two STM32F103 microcontrollers in cold redundancy. This means that the electrical power system powered up only one of the microcontrollers at a time and if one failed the other could still be used. Bus switches were used to disconnect unused microcontroller from all the lines to make sure it would not interfere with the other one. For redundancy all the connections between subsystems were point-to-point with forwarding. CDHS stored data in three SPI flash memories, total of 48 MB, five FRAM memories, total of 1280 KB, and in microcontroller’s internal memory, 768 KB of flash and 96 KB of SRAM. [9] During ESTCube-1 mission command and data handling system was improved with additional functionality enabled by in-orbit firmware updates [2]. The AAU-Cubesat was launched into space in 2003 and its on-board computer system used Siemens C161 16-bit 16 MHz microcontroller. It only featured one camera payload and all the communication was done over I2 C bus. It featured PROM for original software and flash 11

memory for updated software. [10] Today there are already commercially available on-board computer systems. One of those is Innovative Solutions In Space on-board computer (iOBC). It is flight qualified and uses ARM9 processor, 64 MB of SDRAM, 1 MB NOR flash for code storage and 256 kB FRAM for critical data. For mass storage it has two 2 GB SD cards with fail safe file system. They also optionally offer software for faster development. [11] A lot of research has been done on fault tolerant on-board computer systems. STSAT-3 was designed using FPGA with a triple modular redundancy scheme which was immune to proton energies up to 20.3 MeV during testing. Two flash memories were used to hold the original and updated version of the FPGA configuration. [12]

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2 Hardware

Figure 2.1: Block diagram of ESTCube-2 with communication buses from on-board computer system’s view. ESTCube-2 is divided into multiple subsystems, each with a specific purpose. The subsystems are listed on figure 2.1. Electrical power system is responsible for energy storage, power distribution and monitoring, as well as performing high-level current limiting. EPS also acts as the central timekeeper since it is always powered. Another subsystem, that is always powered, is the communications system, which is responsible for receiving and transmitting data between satellite and ground stations. Side panels are responsible for tracking Sun’s position and collecting energy with maximum power point tracking (MPPT). ESTCube-2 will also feature a star tracker that allows increased accuracy in measuring satellite’s orientation. ESTCube-2 will have at least three payloads - optical payload, E-sail payload and high-speed communications payload. On-board computer system controls satellite during nominal operations by receiving commands from the ground station through COM to schedule and handle them, possibly 13

when the satellite is out of range from the ground stations. It keeps log of the satellite’s operations, compresses and stores recorded data and programs in memory while supporting other systems where needed. ICP, RS485, RS232, USB, CAN, SPI and I2 C communication buses are used to achieve maximum performance and to accommodate different development teams (Figure 2.1). [5] This sets a list of requirements that the on-board computer system and attitude determination sensors must comply to, described in section 2.1.

2.1

Requirements

1. First prototype must include at least the following interfaces for testing and debugging purposes: JTAG or SWD and UART with USB serial adapter. 2. Electronics board must support at least two power sources - USB and EPS. 3. On-board computer system and attitude determination sensors must work from 3.3 V supply. 4. All the components must have industrial temperature range of at least -40 to 85 ◦C. 5. Commercially off-the-self components must be used that are widely available for lower cost. 6. Printed circuit board design must not use blind or buried vias, traces thinner than 0.2 mm nor vias smaller than 0.2 mm.

On-board computer system specific requirements 1. Microcontroller must be able to control the power of the on-board computer system’s subcomponents such as memories, communication drivers and sensors. 2. On-board computer system must not source current from other systems other then electrical power system. 3. On-board computer system must feature current consumption measurement capability for on-board memories, communication drivers and attitude determination sensors. 4. Temperature measurement must be available near memories and communication interfaces. 5. On-board computer system must include on-board mass storage for data logging, firmware images and custom functions. 6. On-board computer system must include dedicated low-power memory for storing mission critical data such as bootloader command list, configuration tables, error logs. 7. On-board computer system must include additional non-volatile high speed random-access memory for attitude and orbit control system algorithms and data compression. 8. Radiation tolerant memory should be used where possible.

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AOCS sensor board specific requirements 1. Attitude and orbit control system sensors must be on an expansion board since final sensor selection is not available. 2. On-board computer system must be able to power cycle attitude determination sensors. 3. I2 C should be avoided if possible. [5] 4. Sensors must be redundant, in order to enable averaging between measurements or to have a backup in the case that a sensor fails permanently. 5. Same type of sensors must be on different buses to mitigate the failure of a communication bus. 6. Temperature sensors are required as close as possible to all the sensors for calibration purposes.

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Clock Core FPU Flash SRAM GPIO UART/USART SPI QSPI I2 C Other Package Current consumption Performance

STM32F767II [13] 216 MHz Cortex-M7 Double precision 2 MB 512 KB 132 4/4 6 2 4 L1-cache 2x16 KB JPEG codec LQFP-176 440 µA/MHz 1082 CoreMark 462 DMIPS at 216 MHz

ATSAME70Q21 [14] 300 MHz Cortex-M7 Double precision 2 MB 384 KB 114 5/3 2 1 3 L1-cache 2x16 KB

STM32F401VE [15] 84 MHz Cortex-M4 Single precision 512 KB 96 KB 81 0/3 4 0 3

LQFP-144 300 µA/MHz 1512 CoreMark 645 DMIPS at 300 MHz

LQFP-100 146 µA/MHz 285 CoreMark 105 DMIPS at 84 MHz

Table 2.1: Comparison between different microcontrollers considered for the on-board computer system.

2.2

On-board computer system

Microcontroller At the center of the on-board computer system (Figure 4.46), there is a microcontroller to communicate with and to perform computation intensive tasks for other systems on the satellite. Compression of mission logs and experiment data will use an FFT based algorithm. For this, Cortex-M7 has digital signal processing (DSP) instructions that would speed up calculations. AOCS will be implementing Kalman and Particle filters that would greatly benefit from double precision floating point unit and tightly coupled memory. Different microcontrollers were considered (Table 2.1), but in the end STM32F767IIT6 was chosen. There were mainly three reasons: 1. ESTCube’s team familiarity with the STMicroelectronics microcontrollers and the standardization that sees only two microcontroller types being used - one for computation intensive systems and the other for always on subsystems that must have low power consumption [2]. 2. The second reason was that this particular microcontroller had one of the best CoreMark scores, standardized benchmark indicating execution of simple code [17], and had just become available. 3. The third reason was the number of pins and peripherals required to implement all the required communication, memory and AOCS sensor interfaces. STM32F7 family also supports bigger packages (Table 2.1) with more pins to extend the on-board computer system capabilities for the next design iterations if needed. 16

With previous electronics designs done with STM32F4 series and its pin-to-pin compatibility with STM32F7 family - the transition to the new and better microcontroller was easy. Although 400 MHz STM32H7 family with 2020 CoreMark has been announced, it is not yet available and has smaller transistors (40 nm technology) which might make it more susceptible to single event effects [16]. One of the biggest shortcomings that the STM32F7 microcontroller family has for the on-board computer system is its external interrupt/event controller (EXTI) that support only 16 external interrupt lines at any single given time [13]. With the current design the total number of available interrupt lines is more than 32 as demonstrated in table 2.3. Although many of the AOCS interrupts may never be used, they still are needed while software is being developed in case they become relevant in later phases of the project. To handle less frequent interrupts, an external input/output extender MCP23S17 was used as a workaround. It has two 8-bit ports that can be configured as external interrupt input lines. On a single port all the interrupts can be OR’ed or AND’ed together and a single line can be used to signal microcontrollers EXTI so that the software can read through SPI on which line the interrupt occurred. In the current prototype the I/O expander added support for 14 additional interrupts. [18] Some of the possible interrupt lines were left out because of the design constraints and low importance. If those interrupts become necessary, test points can be used to connect them to pin headers for software development purposes on the first prototype board.

Memories On-board computer system in ESTCube-2 has to keep logs of the satellite operations, hold configuration data for sensors and algorithms, store several firmware images, custom functions and their metadata, as well as offer storage for other systems. All of these tasks require different types of memory which is additionally made even more challenging by the space environment. Bit flips are quite serious in registers when entering or returning from an interrupt, function call or when looping. They can also cause serious issues in attitude or orbit control system algorithms. For example, a single bit flip might cause thrusters to go off with maximum thrust. Thus, it would make sense to have these algorithms keep their variables in radiation tolerant memory. Another layer of security will be provided by implementing error correction and data scrubbing. High speed parallel magneto-resistive random-access memory (MRAM) was selected because it is non-volatile and radiation tolerant by design which makes it less susceptible to single event effects. It can still be affected during read and write operations due to being based on CMOS technology. [19] Everspin Technologies 16 Mb parallel MRAM MR4A16B was used in 54-TSOP2 package for its availability and user-friendly package. It uses 20-bit address bus and 16-bit data bus with dedicated access to the upper and lower byte through signaling pins (Figure 4.13). The parallel communication bus is compatible with the bus used in most parallel static random-access memories. [20] This made it possible to connect MR4A16B to the STM32F767 using flexible memory controller and SRAM controller to hide the actual signaling from the programmer. MRAM is used to keep the data of running programs which can be recovered if power is lost abruptly thanks to its non-volatile nature. MRAM will be used to run AOCS algorithms and data compression. Since ferroelectric random-access memory (FRAM) is low density and uses serial interface, it’s best to use it for configuration tables, error logs, on-board statistics, for data that don’t need to 17

Figure 2.2: Block diagram of the memories used in the on-board computer system and their communication buses. be accessed very often and data without strict latency restrictions. It has been tested in laboratory environment to have radiation tolerance against single event upsets [21] but its interfacing electronics uses CMOS technology which is still susceptible to all the radiation effects [22]. [24] On-board computer system uses FRAM for its low power consumption - 300 µA active current at 1 MHz. Cypress CY15B104Q was chosen since it offers the highest capacity currently available - 4 Mb. For communication, it uses SPI - this allowed to put this memory on different buses used for other purposes for redundancy. [23] Three memory modules are distributed around onboard computer system. The first FRAM module is on the same bus with the I/O expander and real time clock (Figures 4.3, 4.11, 4.15 and 4.16). Two other memory modules are on the same bus with the two attitude and orbit control system’s sensor groups as demonstrated on figure 2.2. Maximum communication speed is limited by the CY15B104Q which support SPI clock up to 40 MHz [23]. Availability of COTS radiation tolerant memories is limited and their capacity is not very big. For mass storage NOR flash memory was used to keep data and segments of firmware. One of the communication protocols used to transfer data between memories is quad serial peripheral interface (QSPI). It can either be used as a single SPI bus or as four bidirectional lines for im18

Capacity Interface Data bus width Clock Standby current Read current Write current Volatility Radiation tolerance Package used

MRAM (MR4A16B) 16 Mb Parallel 16 28 MHz 5 mA 60 mA 152 mA Non-volatile Yes3 54-TSOP2

FRAM (CY15B104Q) 4 Mb SPI 1 40 MHz 100 µA 300 µA/MHz (12 mA) 300 µA/MHz (12 mA) Non-volatile Yes3 TDFN

Flash (MT25QL256) 256 Mb Quad SPI 4(81 ) 108(902 ) MHz 30 µA 28 mA 35 mA Non-volatile No W-PDFN-8

1. Dual bank mode. 2. Double transfer rate mode. 3. Read/write electronics not radiation tolerant.

Table 2.2: On-board computer system’s external memory comparison (ordered by clock rate).

proved throughput. Two MT25QL256ABA1EW9 [25] are used, resulting in 64 MB for mass storage (Figures 4.7 and 4.14). Both STM32F767 and the flash memory support execute-inplace (XIP) which makes it easier to load program instructions directly from memory without writing additional signaling software. In dual bank mode, both flash memories are accessed simultaneously. With double transfer rate mode and dual bank mode throughput up to 180 MB/s can be reached [13,25]. Flash memory is used to keep different versions of firmware, as well as to store on-board measurements and payload data except for camera images that are stored by the payload. Other memories available in on-board computer system are flash and SRAM inside the microcontroller. STM32F767II has 2 MB of flash memory organized in two banks allowing readwhile-write, 512 KB of SRAM and 4 KB SRAM for backup to use in low-power modes. It also supports tightly coupled memory interface which allows the CPU to access parts of the SRAM at clock speed. [13] All the external memories used have standard package and communication protocol, which makes it easy to replace them if the need arises or higher memory capacity versions become available. QSPI flash has multiple alternatives available. Up to 1 Gb memory module is available - it was not used because it stacks memory layers on top of each other and possibly makes it more susceptible to single event effects [26].

Communication interfaces Different systems in the ESTCube-2 will have to communicate with each other. The control systems will use the internal communication protocol (ICP) to interact with each other. This bus will be implemented using half duplex RS485 and two signaling lines (Figures 4.4, 4.10, 4.22 and 4.26). STM32F767’s UART/USART modules support RS485 by implementing driver enable signal in hardware. To drive the RS485 lines using UART/USART, LTC2850 by Linear Technology was used. It supports maximum of 20 Mbps data rate with a low operating current [27]. These data rates are probably never reached since other microcontrollers on the line are low power MSP430FR’s running at 16 MHz. To conserve the pins needed from the on19

board computer’s microcontroller, the driver enable (DE) and receiver enable (RE) pins were connected together so that only read or write operation can be done at a time (Figure 4.22). RS485 differential lines also require terminating resistors at both ends of the bus which were added and will be soldered based on the location the on-board computer system ends up at the time of testing. Two signaling lines that ICP supports are SHUTUP and ACCESS (Figure 4.3) [28]. SHUTUP is used for stopping the communication on the bus in case there is a rogue subsystem keeping the bus busy by repetitively transmitting packets. It is a bidirectional open-drain line with interrupt capability. For both the main and backup ICP bus an EXTI pin was used. ACCESS line is a means to minimize the probability of packet collisions, as well as to wake systems on packet reception. Wakeup capable pins were used to bring microcontroller out of sleep modes. On the main ICP bus there will be on-board computer system, electrical power system, communications system and side panels. On the backup ICP bus there will be OBCS, EPS and COM but no side panels, as these would need too many interconnections and are not mission critical (Figure 2.1). Additionally there is one open-drain bidirectional interrupt line reserved for low latency signaling and synchronization between each system - OBCS and EPS, OBCS and COM, OBCS and side panels. There are also additional interrupt lines between other systems that are not shown in the figure 2.1. All the communication lines make sure that if one of those fails there is a backup. All the connections are brought out on the prototype board by the IDC pin header named ”SYSTEM BUS” (Figure 4.2). For star tracker there is a dedicated point-to-point RS232 communication bus and one bidirectional interrupt line (Figure 2.1). RS232 bus is driven by the STM32F767’s internal UART and interrupt line is connected directly to EXTI. Star tracker can interface with on-board computer system using IDC pin header named ”STAR TRACKER BUS” on the prototype board (Figure 4.2). ESTCube-2 will have multiple payloads by different suppliers with different control interfaces. For this reason RS485 and CAN (Figures 4.21 and 4.22) were implemented on the prototype board. RS485 driver is controlled by the microcontroller’s UART and can support data rates up to 27 Mb/s with a compatible RS485 driver for increased data rates and throughput. For CAN there is a dedicated peripheral in the STM32F767 named basic extended controller area network (bxCAN). Bit rates go up to 1 Mb/s and support both 2.0A and 2.0B Active standards. CAN is used for high reliability messaging. The current prototype board also supports three unidirectional interrupt lines connected directly to microcontrollers EXTI and three output signaling lines for the payloads. All the signaling and interrupt lines are disconnected from the microcontroller using bus switches whenever the entire system or a part of it is powered down. This guarantees that other systems can’t drain power from on-board computer system nor can they supply current while it might be powered down. If bus switches are not used, then injected current might damage the microcontroller or cause undefined behavior. Also, any system connected but powered off might enter an undefined state due to draining power from the OBCS via ESD protection diodes. 2-bit SN74CB3Q3306A and 8-bit SN74CB3Q3245 FET bus switches were used for this purpose. Both of them have an Ioff circuitry that prevents current backflow while they are powered down [29, 30].

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(a) Powered by EPS.

(b) Powered by USB.

(c) Powered by external power supply or USB.

(d) Powered by EPS or USB. Blue pins connected together with a jumper wire.

Figure 2.3: Onboard computer system’s power configuration options.

Power distribution The current on-board computer system design assumes that the electrical power system delivering three 3.3 V power rails each capable of supplying up to 300 mA. This is necessary so that overcurrent events can be averted with a minimal amount of component overhead. Biggest power consumers on the on-board computer system are microcontroller and magnetoresistive random-access memory. STM32F767IIT6 has a maximum current consumption rated at 293 mA [13] and MRAM has a maximum current consumption rated at 180 mA [20]. Third power rail is dedicated for external peripherals that have their own power switches. These are in the design so that on-board computer system can power down parts of the system to consume less power and to reset them if needed. These power switches also provide additional overcurrent protection for parts of the OBCS which can happen in various circumstances. One of those possible events is caused by the radiation’s single event latch-up. In this case, when the transistor is hit by a particle, its state may change and create a high current path which can only be removed by powering down. In on-board computer system latch-off power switches are used that cut the power if an overcurrent event is detected. After this, they signal microcontroller through fault line which is connected to the EXTI through I/O expander. Two different power switches were used for the prototype design. One for power domains that require less than 40 mA and one for those requiring more. TPS22943 (Figure 4.18) was used to supply power to attitude and orbit control system sensors and to temperature sensors. It can supply up to 40 mA and has a low resistance of 0.5 Ω at 3.3 V. If the current limit is exceeded 21

Component

Number of interrupts

Attitude and orbit control system sensors

10

Real time clock Power switch faults ICP interrupts Electic and power system Communications system Star tracker Side panels Payloads Temperature alert

2 6 4 1 1 1 1 3+ 3

Assignment 4 EXTI + 4 I/O expander 1 I/O expander 6 I/O Expander 2 EXTI + 2 Wakeup MCU EXTI EXTI 1 EXTI 1 EXTI 3 EXTI

Table 2.3: On-board computer system interrupt lines and their assignment with the current design.

the power switch will cut the power and raise a fault signaling line after which the application can decide what to do next. [31] The other power switch was TPS2553-1 (Figure 4.19) that works similarly to the previously described power switch except its current latch-off level can be set by an external resistor. [32] This was used for ICP bus, payload interfaces and QSPI memories. The current latch-off threshold IOSnom can be found by the equation 2.1 where RILIM is the external resistor connected between the ILIM pin on the power switch and ground (Figure 4.19). [32] IOSnom =

23950 V 0.977 RILIM kΩ

(2.1)

The current prototype board has three connectors for power supply where one is configurable header to select the actual power source. Since USB gives out a 5 V power rail, then it’s necessary to convert it to 3.3 V. For this purpose a step-down DC/DC switching regulator was used. For the situations where power supplying USB host doesn’t have a current limiting or other protection capability, a resettable 0.75 A fuse is used between the power regulator and the USB connector. To allow supplying power from multiple sources a power source multiplexer was used. It is set up so that USB power is secondary and used only in cases when no other power supply is present (Figure 4.9). For the first prototype there is an EPS power header that supplies power to the entire OBCS from a single rail and also power rail for reaction wheels used by the AOCS. To select the power source, there is a header which allows selecting different power configurations. Figure 2.3 shows some possible combinations to supply power to the on-board computer system where the red and blue rectangle represents jumpers.

Sensors Over the spacecraft’s lifetime, both radiation as well as temperature can affect current consumption, voltage level and clock rate. Radiation dose is measured externally by dosimeters connected to the side panels. Both current consumption and temperature are measured by OBCS components. Current sense amplifiers were put after each power switch which measures voltage drop on a shunt resistor (Figure 4.20). Linear Technology LT6105 was used for this purpose. It has a 1 % gain accuracy and low operating current at 150 µA. The output voltage which is 22

measured by the microcontroller’s analog to digital converter follows equation 2.2 where ROUT is 10 kΩ and RIN is 100 Ω (Figure 4.20). [33] This gives a 100 time amplification to the output voltage compared to the voltage drop on the shunt. The actual current that goes through the shunt is then calculated using Ohm’s law and taking into account ADC reference voltage and temperature variations. ROU T (2.2) RIN For temperature measurements near flash memories, MRAM and CAN driver, MCP9808 (Figure 4.17) was used which has a typical accuracy of 0.25 ◦C over the whole operating temperature. It is available in a small 2 x 3 mm package and consumes only 200 µA while operating. Communication with the microcontroller is over I2 C bus. To support multiple temperature sensors on the same bus MCP9808 has three address configuration pins supporting up to eight or sixteen sensors at the time. Temperature sensor address configurations are shown in the figure 4.8. Current prototype features power switch and a resistor to bypass it. This is for initial testing to see if the temperature sensors could be powered through current limiting resistor to lower the component count and pins required from the microcontroller. The disadvantage of using resistors is that if a short circuit event happens then it can only be mitigated by powering down the entire on-board computer system. Power consumption of the temperature sensors is very low and for that reason its current consumption is not measured separately. VOU T = VSEN SE ∗

Debugging and programming Software development often runs into issues which require dedicated tools to debug. To program and debug the microcontroller a 2x10 IDC header is available that works with tools like J-Link and ST-LINK/V2 [36]. It supports SWD that is used to program Cortex-M microcontrollers and SWO that can be used to send trace data to the development environment. SWD uses four lines - SWDIO for data transfer and SWDIO for clock, nRST to reset the microcontroller and a power pin to detect if the microcontroller is powered up. SWO uses single asynchronous line to send trace data (Figure 4.10). [37] USB to UART interface was implemented on the prototype board through which software developers could send and receive data. FTDI FT230XS was used which supports transfer rates from 300 bps to 3 Mbps [34]. It is only turned on when the microcontroller has been powered up and USB cable is connected. Since this was not the default configuration for the chip, it had to be reprogrammed using FTDI’s FT Prog software. Figure 4.9 shows that CBUS0 is used as a voltage sense pin which had to be set as a VBUS Sense in the FT Prog [35]. For visual feedback there are nine LEDs - two LEDs for USB and microcontroller power indication, two LEDs for indicating USB receiving and transmitting data, one LED to indicate boot pin status, two LEDs that are directly connected to the microcontrollers GPIO and two LEDs that programmers can manipulate but share a pin on microcontroller with push button and I/O expander’s port B interrupt (Figure 4.10). There are two pushbuttons: one for resetting the microcontroller, the other for triggering user events. In order to select whether the microcontroller boots its internal bootloader or firmware in Flash, a boot pin is used. The state of the boot pin can be changed with a slide switch (Figure 4.10). Testing pin header can be used to measure current sense amplifier outputs (Figure 4.2). Test points were added for OBCS board to measure voltage levels in different power domains and capture signals on QSPI, CAN and UART buses. The actual number of debugging and testing interfaces were limited by the number of pins on

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the microcontroller and available space on the prototype board. For this reason only the most important debugging and programming interfaces were implemented.

2.3

Attitude determination sensors

Attitude and orbit control system is responsible for moving the satellite into the correct orientation and spinning the satellite to perform the E-Sail experiment. For this, AOCS requires sensors to measure the satellite’s movement. These sensors will be placed on the same PCB with on-board computer system. This is done to save space for other systems in ESTCube-2. Because final sensor selection is not yet finished and algorithm development requires unrestricted movement of sensors, the expansion board was developed. Component free areas on the OBCS PCB makes it possible to easily integrate the content of the expansion boards into the main PCB later. The sensor selection was based on Georgi Olentˇsenko’s thesis ”Prototype design of ESTCube-2 attitude and orbit control system” [38].

Figure 2.4: Block diagram with one of two attitude determination sensor groups and its connections to the on-board computer system. Two identical sensor groups are used for attitude and orbit control system to provide redundancy in case of failure. A single sensor group has two digital gyroscopes, one analog accelerometer with analog to digital converter, one digital magnetometer and an FRAM. Each sensor and analog to digital converter has its own analog temperature sensor to allow for temperature compensation. Each AOCS sensor group (Figures 4.3 and 4.5) has its own power switch and current sense amplifier. If a particular sensor group is not used, then it can be powered off. Also, if some error has been detected, then power switch can reset all the sensors. Current sense amplifier is used to measure current consumption for diagnostic and testing purposes. To keep calibration data, each AOCS sensor group has its own memory module. FRAM was used to keep power consumption low, to have better protection against radiation effects and to make accessing the memory similar to sensor communication. All the devices communicate through SPI (Figure 4.34) and the device used can be selected through a 3-to-8 decoder (Figure 4.24). This only requires three pins from the microcontroller and supports up to seven SPI devices on 24

a single bus. Analog to digital converter used for attitude determination sensor board is Texas Instruments ADS8332 (Figure 4.35). It has 8-channels and uses 16-bit successive approximation ADC with sampling rate up to 500 ksps. Power consumption at maximum sample rate is typically 5.2 mA. [39] Voltage supplied by the electrical power system will most likely be too unstable for accurate ADC measurement. For this reason a 3 V high accuracy voltage reference ADR3430 (Figure 4.35) by Analog Devices was used [40]. ADC measures accelerometer’s all three axes outputs and temperature sensors (Figure 2.4). The ADS8332 has pins MUXOUT and ADCIN which can be used to implement a single low pass filter for all the input channels. To support this feature a pin header was added to expansion board. If no filter circuitry is connected to these pins a jumper must be connected so that the ADC can function properly (Figure 4.35). Attitude determination sensors selected for the expansion board were based on their performance and communication interface. Since there were problems with I2 C interface in the ESTCube-1 [2], decision was made to only use SPI for ESTCube-2. Analog accelerometer KXRB5-2050 (Figure 4.36) [41] was chosen for the prototype board for its low noise density [38]. It has three analog outputs that indicate acceleration and all of them are connected to the analog to digital converter (Figure 4.34). All the digital magnetometers tested for AOCS satisfied the requirements [38], LIS3MDL (Figure 4.37) [42] was chosen for its availability at the time as was MPU-6000 (Figure 4.38) [43] that was used for gyroscope. On-board computer system’s electronics board features a pin header (Figure 4.23) that is used to connect with attitude and orbit control system’s sensor board (Figure 4.33). The connector was designed to allow different boards to be connected. This enables quick replacement of AOCS sensors without redesigning the OBCS board. The connector features two communication interfaces: an SPI and an I2 C bus. To lower pin count on the microcontroller 3-to-8 decoder was used to select between SPI devices. Four select lines are connected to the connector while one select line is connected to the FRAM. The connector has three general input/output pins directly connected to the microcontroller out of which two can be used with EXTI. Four other pins are routed through I/O expander which can be configured to generate interrupt for the microcontroller. If SPI or I2 C is not used, then three or two pins respectively are available for signaling. Connector is designed so that connecting it in the wrong way would not power up the sensor board. Each attitude sensor board features a single LED to indicate that the board is powered up by the on-board computer system. On the on-board computer system prototype board there are three connectors dedicated for reaction wheels which are used to rotate the satellite in space by attitude and orbit control system. The connectors provide an I2 C bus and are powered up from the electrical power system’s connector. Current prototype design shares I2 C bus with temperature sensors. This is not ideal, but there is one available I2 C interface on the microcontroller currently used for debugging purposes. In the next design reaction wheels will get a dedicated bus for communication.

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3 Software 3.1

Development tools

Figure 3.1: Part of the Altium Designer project tree with hierarchical structure. For on-board computer system’s hardware development three software tools were used. PCB design was performed using Altium Designer 16, which offered feature rich schematic and layout tools that sped up the development. For schematics design, hierarchical structure was used, meaning that schematics could add other schematics as components (Figure 3.1). This allowed designing complex electrical circuits while keeping actual details about specifics in separate sheets and making designs more readable. Schematic design was supported by the STM32CubeMX software developed by STMicroelectronics. It allowed to set up microcontroller pins, peripherals, clocks which provided additional confidence that all the connections were made correctly and no hidden features were overlooked. To make sure that all the hardware functions correctly, software had to be written. Since ESTCube-2 OBCS team develops its own hardware abstraction layer which was not ready for hardware testing, STM32F7 HAL was used. It hid most of the hardware registers and supplied high level functions that were easy to use for validating the hardware design. For software development Atollic TrueStudio was used. It is an integrated development environment built on eclipse to develop software specifically for ARM microcontrollers. STM32CubeMX directly supports TrueStudio, making it possible to generate project files without the need for any additional configuration. 26

3.2

Hardware validation and testing firmware

Software generated initialization code was used for hardware testing. All the possible initial configurations could be set from the STM32CubeMX software. For debugging, USART6, connected to UART to USB converter, was configured with a baud rate of 115200 bps, word length 8-bits, no parity and one stop bit. After the code was generated only two functions and one structure were needed to make a simple command and response interface that made the software easy to extend while maintaining repeatability. Listing 3.1 shows a simple command parser used for testing the hardware. It allowed sending commands that were separated by newline characters. To regenerate new source code and to keep user code, all the source code had to be written between comments ”/* USER CODE BEGIN x */” and ”/* USER CODE END x */”. This made possible validating hardware functionality at low communication bit rates and test the hardware later using maximum possible configurations supported by the hardware. Most of the testing performed was sending bytes between communication interfaces and reading out device identification strings. While developing firmware for the electronics, care must be taken that microcontroller does not source current to devices that are powered down. This may create undefined states on different lines that can affect other systems. All the pins that are connected to the external devices with dedicated power switch must be configured as inputs on two conditions, either the power switch is about to be turned off or a fault is detected on the power switch fault signaling line. /* I n f i n i t e loop */ / * USER CODE BEGIN WHILE * / while ( 1 ) { uint8 t data ; i f ( HAL UART Receive(& h u a r t 6 , &d a t a , 1 , 0 ) == HAL OK) { i f ( d a t a == ’ \ n ’ && c o u n t e r > 0 ) { command [ c o u n t e r ++] = ’ \0 ’ ; run command ( ) ; counter = 0; } e l s e i f ( d a t a == ’ \n ’ ) { counter = 0; } else { command [ c o u n t e r ++] = d a t a ; } } / * USER CODE END WHILE * / / * USER CODE BEGIN 3 * / } / * USER CODE END 3 * /

Listing 3.1: Simple USB debugging interface that supports commands separated by the newline character in main function.

27

4 Results Two prototype PCBs were developed (Figure 4.1) - one for on-board computer system (a, c) and one for attitude determination sensors (b, c) used by the attitude and orbit control system. Prototype board dimensions for OBCS were 130 x 130 mm which exceeds the dimensions of the final engineering model that would not have that many debugging, programming interfaces and test pads. IDC connectors were used which take more space on the PCB, but they make it easier to connect cables between different systems. Both electronics boards use six layer PCB’s. One layer is used only for ground plane (Figures 4.28 and 4.41) and one layer is dedicated for power distribution (Figures 4.31 and 4.44). All other layers were used for component placement and for traces (Figures 4.27, 4.29, 4.30, 4.32, 4.40, 4.42, 4.43 and 4.45). For development only COTS components (Tables 4.1 and 4.3) were used that met the required industrial temperature range of at least -40 to 85 ◦C. Developed boards works from 3.3 V power source and it can be supplied through USB or from external source. Microcontroller can power down parts of the on-board computer system and bus switches are used to make sure that no current is injected into the system while powered down. Three different memory types were used - low power FRAM, high speed parallel MRAM and QSPI flash for mass storage. Both the FRAM and MRAM are radiation tolerant by design. For attitude determination only SPI devices were used but also I2 C was added to the connector if needed for future design. For redundancy two sensor groups were implemented, each featuring a magnetometer, an accelerometer, two gyroscopes and an FRAM. The only shortcoming for the selected microcontroller was its limited support for external interrupts. As a workaround I/O expander was used to extend the support for up to 30 interrupt lines. During initial testing a couple of problems with the first prototype came out. There are missing pull-up resistors on the MRAM schematic on figure 4.13. All the signaling lines require them. If the microcontroller is in the reset state it has all the pins configured as inputs. This causes an undefined state on the signaling lines used to control the MRAM. During testing, memory corruption was encountered. The other problem occurred with I2 C. Also, considerable crosstalk was witnessed between the I2C SCL and SDA lines at 400 kHz clock. It did not have any effect on the communication but it could damage components that can’t handle negative spikes of around 0.9 V. A potential improvement for the current prototype boards is to add LEDs and improve PCB silk screen. On-board computer system can power up different parts of the system and LEDs should have been used to indicate their statuses. LEDs on interrupt line would also make firmware debugging easier. With multiple schematic design iterations, some of the names given for the components do not describe their actual function. Also, there are missing silk screen labels for buttons and connector pins. Currently their names have to be checked from the documentation every time an external connection needs to be made.

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(a) PCB editor 3D top view of on-board computer system.

(b) PCB editor 3D top view of attitude determination sensor board.

(c) Assembled prototype board for on-board computer system with attitude determination sensors.

Figure 4.1: 3D PCB models and assembled PCB image of on-board computer system prototype board and attitude determination sensor expansion board. 29

Conclusion The purpose of this thesis was to develop an electronics prototype board for ESTCube-2 onboard computer system with attitude determination sensors. STM32F767 was chosen to be the microcontroller that runs the system. Different communication interfaces were implemented to communicate with other systems in the satellite. ICP bus is used to communicate with EPS, COM and side panels. RS232 is used for star tracker and for payloads RS485 and CAN were implemented. For data storage three different types of memory were used out of which FRAM and MRAM have increased radiation tolerance against SEU. FRAM can be accessed over SPI supporting low power consumption while MRAM uses parallel interface and offers high speed random-access memory to the microcontroller. For mass storage two QSPI NOR flash memories were used that feature dual bank and double transfer rate modes to achieve high throughput and execute programs directly from it. Latch-off power switches were used for three reasons - to mitigate possible damage caused by a single event latch-up, to reset and to power down for low power consumption. Current sense amplifiers and temperature sensors are used to monitor and diagnose the on-board computer system. SWD bus with asynchronous SWO was implemented to program and debug the microcontroller. Additionally, UART to USB converter was added to easily exchange data between development PC and microcontroller. The PCB features test points for probing the traces of on-board communication buses, if needed. Attitude determination sensor board was developed for initial software and algorithm testing. The sensor board connector provides SPI, I2 C and multiple interrupt and signaling lines which would allow for the testing of different sensors without requiring a redesign of the OBCS board. The attitude determination board features an analog accelerometer, analog temperature sensors, an analog to digital converter, a digital magnetometer and two gyroscope. Simple firmware was developed for functionality testing of the hardware. For this, STM32CubeMX initialization source code generator was used for. All the requirements set at the beginning of the thesis were fulfilled. At the time of writing most of the hardware has been successfully tested. Communication interfaces like RS485, RS232, SPI, I2 C and USB can send and receive data. Interrupts are triggered in the EXTI and signaling pins can be manipulated. Current consumption can be measured using testing bus and microcontroller’s ADC. Communication with FRAM and MRAM has been established and sensor registers have been accessed.

30

Acknowledgements I would like to thank Indrek S¨unter, for supporting me throughout the hardware design process and for valuable feedback received about the work I did, and the entire ESTCube team for making it possible to get an experience working on a satellite project. Special thanks go to Viljo Allik and Erik Ilbis for supporting schematic and printed circuit board design and giving advice during the development.

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References [1] P. Janhunen ”Electric Sail for Spacecraft Propulsion”, Journal of Propulsion and Power, 20, 2004, 763-764, DOI: 10.2514/1.8580. [2] A. Slavinskis, M. Pajusalu, H. Kuuste, E. Ilbis, T. Eenm¨ae, I. S¨unter, K. Laizans, H. Ehrpais, P. Liias, E. Kulu, J. Viru, J. Kalde, U. Kvell, J. K¨utt, K. Zalite, K. Kahn, S. L¨att, J. Envall, P. Toivanen, J. Polkko, P. Janhunen, R. Rosta, T. Kalvas, R. Vendt, V. Allik, M. Noorma ”ESTCube-1 In-Orbit Experience and Lessons Learned,” Aerospace and Electronic Systems Magazine, 30, 2015, 12-22, DOI: 10.1109/MAES.2015.150034. [3] I. Iakubivskyi, H. Ehrpais, J. Dalbins, E. Oro, E. Kulu, J. K¨utt, P. Janhunen, A. Slavinskis, E. Ilbis, I. Ploom, I. S¨unter, R. Trops, M. Merisalu ”ESTCube-2 mission analysis: plasma brake experiment for deorbiting,” 67th International Astronautical Congress, Mexico, 2016. [4] California Polytechnic State University ”CubeSat design specification Rev. 13”, 2014. [5] H. Ehrpais, I. S¨unter, E. Ilbis, J. Dalbins, I. Iakubivskyi, E. Kulu, I. Ploom, P. Janhunen, J. ˇ Kuusk, J. Sate, R. Trops and A. Slavinskis ”ESTCube-2 Mission and Satellite Design,” in The 4S Symposium, Valletta, 2016. [6] E. G. Stassinopoulos and K. A. LaBel ”The Near-Earth Space Radiation Environment for Electronics,” IEEE Transactions on Nuclear Science, 55, 2008, 1810-1832, DOI: 10.1109/TNS.2008.2001409 [7] F.G. Lima ”Single Event Upset Mitigation Techniques for Programmable Devices”, 2000. [8] S. Montenegro ”Data management” in Handbook of space technology, W. Ley, K. Wittmann, W.Hallmann (West Sussex, 2009), pp. 361-380. [9] K. Laizans, I. S¨unter, K. Zalite, H. Kuuste, M. Valgur, K. Tarbe, V. Allik, G. Olentˇsenko, P. Laes, S. L¨att, M. Noorma ”Design of the fault tolerant command and data handling subsystem for ESTCube-1,” Proceedings of the Estonian Academy of Sciences, 63, 2014, 222-231, DOI: 10.3176/proc.2014.2S.03. [10] L. Alminde, M. Bisgaard, D. Vinther, T. Viscor, K. Z. stergard ”The AAU-Cubesat Student Satellite Project: Architectural Overview and Lessons Learned,” IFAC Proceedings Volumes, 37, 2004, 949-954, DOI: 10.1016/S1474-6670(17)32301-7 [11] Innovative Solutions In Space ”iOBC Brochure”, ISIS on board computer; PDF: https://www.isispace.nl/wp-content/uploads/2016/02/iOBC-Brochure-v1.pdf

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[12] D. S. Kang, K. S. Jhang and D. S. Oh ”Design and implementation of a radiation tolerant on-board computer for science technology satellite-3,” 2010 NASA/ESA Conference on Adaptive Hardware and Systems, Anaheim, 2010, 17-23, DOI: 10.1109/AHS.2010.5546260. [13] STMicroelectronics ”DB2612: ARM-based Cortex-M7 32b MCU+FPU, 462DMIPS, up to 2MB Flash/512+16+4KB RAM, USB OTG HS/FS, ethernet, 18 TIMs, 3 ADCs, 28 com itf, cam, LCD, DSI”, PDF: http://www2.st.com/resource/en/data brief/stm32f767bi.pdf, 17.05.2017, 15:00 (UTC). [14] Microchip ”SAM E70 Datasheet”, PDF: http://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-11296-32-bit-Cortex17.05.2017, M7-Microcontroller-SAM-E70Q-SAM-E70N-SAM-E70J Datasheet.pdf, 21:30 (UTC). [15] STMicroelectronics ”DS10086: ARM Cortex-M4 32b MCU+FPU, 105 DMIPS, 512KB Flash/96KB RAM, 11 TIMs, 1 ADC, 11 comm. interfaces”, PDF: http://www.st.com/resource/en/datasheet/stm32f401re.pdf, 17.05.2017, 15:00 (UTC). [16] STMicroelectronics ”DB2923: 32-bit ARM Cortex-M7 400MHz MCU, up to 2MB Flash, 1MB RAM, 46 communication and analog interfaces, LCD-TFT & JPEG Codec”, PDF: http://www.st.com/resource/en/data brief/stm32h743bi.pdf, 17.05.2017, 21:30 (UTC). [17] S. Gal-On, M. Levy ”Exploring CoreMark - A Benchmark Maximizing Simplicity and Efficacy”, PDF: http://www.eembc.org/techlit/coremark-whitepaper.pdf, 17.05.2017, 21:30 (UTC). [18] Microchip ”MCP23017/MCP23S17 Data Sheet”, PDF: http://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf, 17.05.2017, 15:00 (UTC). [19] W. Kang, W. Zhao, E. Deng, J. Klein, Y. Cheng, D. Ravelosona, Y. Zhang and C. Chappert ”A radiation hardened hybrid spintronic/CMOS nonvolatile unit using magnetic tunnel junctions,” Journal of Physics D: Applied Physics, 47, 2014, DOI: 10.1088/00223727/47/40/405003. [20] Everspin Technologies ”MR4A16B, 16Mb x 16 MRAM”, PDF: https://www.everspin.com/file/162/download, 17.05.2017, 15:00 (UTC). [21] J. Shen, W. Li, Y. Zhang ”Assessment of TID Effect of FRAM Memory Cell Under Electron, X-Ray, and Co-60 γ Ray Radiation Sources,” IEEE TRANSACTIONS ON NUCLEAR SCIENCE, 64, 2017, DOI: 10.1109/TNS.2017.2655302. [22] B. A. Dahl, J. Cruz-Colon, R. C. Baumann, J. A. Rodriguez, C. Zhou, J. RodriguezLatorre, S. Khan, T. San, T. Trinh ”Radiation Evaluation of Ferroelectric Random Access Memory Embedded in 180nm CMOS Technology,” 2015 IEEE Radiation Effects Data Workshop (REDW), Boston, 2015, DOI: 10.1109/REDW.2015.7336729.

33

[23] Cypress Semiconductor Corporation ”CY15B104Q: 4-Mbit (512 K 8) Serial (SPI) FRAM Datasheet”, PDF: http://www.cypress.com/file/209146/download, 15.05.2017, 15:00 (UTC). [24] C. Sansoe’ and M. Tranchero ”Use of FRAM Memories in Spacecrafts,” in Ferroelectrics - Applications, 2011, PDF: http://www.intechopen.com/books/ferroelectrics-applications/use-of-frammemories-in-spacecrafts, 15.05.2017, 15:00 (UTC). [25] Micron ”MT25Q 256Mb, 3V, Multiple I/O Serial Flash Memory”, PDF: https://www.micron.com/ /media/documents/products/data-sheet/nor-flash/serialnor/mt25q/die-rev-a/mt25q qljs l 256 aba 0.pdf, 16.05.2017, 16:00 (UTC). [26] Micron ”MT25Q, 1Gb, 3V Multiple I/O Serial Flash Memory Data Sheet”, PDF: https://www.micron.com/ /media/documents/products/data-sheet/nor-flash/serialnor/mt25q/die-rev-b/mt25q qlkt l 01g bbb 0.pdf, 16.05.2017, 16:00 (UTC). [27] Linear Technology ”LTC2850/LTC2851/LTC2852 - 3.3V 20Mbps RS485/RS422 Transceivers”, PDF: http://www.linear.com/docs/19198, 16.05.2017, 16:00 (UTC). [28] S. Tammesoo ”Suhtlusprotokoll ESTCube-2 alams¨usteemide vaheliseks suhtluseks”, Tartu, 2015. [29] Texas Instruments ”SN74CB3Q3306A (Rev. E)”, PDF: http://www.ti.com/lit/gpn/sn74cb3q3306a, 16.05.2017, 16:00 (UTC). [30] Texas Instruments ”SN74CB3Q3245 (Rev. B)”, PDF: http://www.ti.com/lit/gpn/sn74cb3q3245, 16.05.2017, 16:00 (UTC). [31] Texas Instruments ”TPS2294x Low-input-voltage Current-limited Load Switches With Shut Off And Auto-Restart Feature (Rev. D)”, PDF: http://www.ti.com/lit/gpn/tps22943, 16.05.2017, 16:00 (UTC). [32] Texas Instruments ”TPS2553-Q1 Precision Adjustable Current-Limited PowerDistribution Switches (Rev. A)”, PDF: http://www.ti.com/lit/gpn/tps2553-q1, 16.05.2017, 16:00 (UTC). [33] Linear Technology ”LT6105 - Precision, Rail-to-Rail Input Current Sense Amplier”, PDF: http://www.linear.com/docs/25764, 16.05.2017, 16:00 (UTC). [34] Future Technology Devices International ”FT230X (USB to BASIC UART IC)”, PDF: http://www.ftdichip.com/Support/Documents/DataSheets/ICs/DS FT230X.pdf, 16.05.2017, 16:00 (UTC). [35] Future Technology Devices International ”Application Note AN 124 User Guide for FTDI FT PROG Utility Version 1.6”, 2016, PDF: ftdichip.com/Support/Documents/AppNotes/AN 124 User Guide For FT PROG.pdf, 17.05.2017, 21:00 (UTC). [36] SEGGER ”J-Link / J-Trace User Guide (UM08001)”, PDF: https://www.segger.com/admin/uploads/productDocs/UM08001 JLink.pdf, 17.05.2017, 16:00 (UTC). 34

[37] ARM ”CoreSight Components Technical Reference Manual”, PDF: infocenter.arm.com/help/topic/com.arm.doc.ddi0314h/DDI0314H coresight components trm.pdf, 17.05.2017, 16:00 (UTC). [38] Georgi Olentˇsenko ”PROTOTYPE DESIGN OF ESTCUBE-2 ATTITUDE AND ORBIT CONTROL SYSTEM”, Tartu, 2014. [39] Texas Instruments ”ADS833x Low-Power, 16-Bit, 500-kSPS, 4- and 8-Channel Unipolar Input Analog-to-Digital Converters With Serial Interface (Rev. E)”, PDF: http://www.ti.com/lit/gpn/ads8332, 16.05.2017, 16:00 (UTC). [40] Analog Devices ”ADR3412/3420/3425/3430/3433/3440/3450: Micropower, High Accuracy Voltage References Data Sheet (Rev. B)”, PDF: http://www.analog.com/media/en/technical-documentation/datasheets/ADR3412 ADR3420 ADR3425 ADR3430 ADR3433 ADR3440 ADR3450.pdf, 16.05.2017, 16:00 (UTC). [41] Kionix ” 2g Tri-axis Accelerometer Specifications”, PDF: kionixfs.kionix.com/en/datasheet/KXRB5-2050%20Specifications%20Rev%202.pdf, 16.05.2017, 16:00 (UTC). [42] STMicroelectronics ”DS9463: Digital output magnetic sensor: ultra-low-power, highperformance 3-axis magnetometer”, PDF: http://www.st.com/resource/en/datasheet/lis3mdl.pdf, 16.05.2017, 16:00 (UTC). [43] InvenSense ”MPU-6000 Data Sheet”, PDF: https://store.invensense.com/datasheets/invensense/MPU6050 DataSheet V3%204.pdf, 16.05.2017, 16:00 (UTC).

35

Annexes Value/Name 100nF

Description Ceramic capacitor

1uF 10uF

Ceramic capacitor Ceramic capacitor

2.2uF 1nF 2.2pF 100 nF 4.7uF 10uF

Ceramic capacitor Ceramic capacitor Ceramic capacitor Feed-Through Capacitor Ceramic capacitor Ceramic capacitor

22uF 200nF 47pF 100nF

Ceramic capacitor Ceramic capacitor Ceramic capacitor Ceramic capacitor

10nF 10uF LED

Ceramic capacitor Ceramic capacitor Light Emitting Diode

36

Designator C1A, C1B, C1C, C2A, C2B, C2C, C3A, C3B, C3C, C4A, C4B, C4C, C5A, C5B, C5C, C6A, C6B, C8, C11A, C11B, C11C, C11D, C11E, C11F, C12A, C12B, C12C, C12D, C12E, C12F, C14, C15, C18A, C18B, C18C, C19, C26, C29, C30, C31, C32, C33, C34, C35, C36, C37, C38, C39, C40, C41, C42, C43, C44, C45, C54, C55, C59, C63A, C63B, C63C, C64, C64 2, C69 C7, C17A, C17B, C17C, C27 C9A, C9B, C10A, C10B, C13, C16, C53 C20, C21 C22 C23, C24 C25, C46, C47, C67

Quantity 63

C28 C48, C49, C50, C51, C65, C66 C56, C57 C60 C61, C62 C68A, C68B, C71, C72, C76A, C76B, C76C, C76D, C77 C70 C73, C74, C75 D1, D2, D7, MCU LED, RX LED, STM PWR LED, SW LED, TX LED, USB PWR

1 6

5 7 2 1 2 4

2 1 2 9

1 3 9

MINISMDC075F 2508056017Y2 * nH 6.2 uH 100k

Resettable fuse Ferrite bead Inductor Inductor Resistor

120R 10k 0.1%

Resistor Resistor

100R 0.1%

Resistor

0Rxx

Shunt

10k

Resistor

0R 270R

Resistor Resistor

3.9k 1k 500R 560R 4.7k 27R 100R 109k 75k 60R *R JS202011SCQN EVQQ CY15B104Q-LHXI LTC2850IMS8 TPS2553DBVR-1 SN74HC138PW

Resistor Resistor Resistor Resistor Resistor Resistor Resistor Resistor Resistor Resistor Resistor 2-position slide switch Push buttob FRAM 4Mb RS485 driver Power switch 3-8 line decoder 37

F1 FB1, FB2 L1 L2 R1A, R1B, R1C, R3A, R3B, R3C, R6A, R6B, R6C, R7A, R7B, R7C, R8A, R8B, R9A, R9B, R10A, R10B, R15A, R15B, R15C, R16A, R16B, R16C, R41A, R41B, R41C, R42, R43, R44, R50A, R50B, R51, R52, R53, R54, R58, R81A, R81B, R81C, R81D, R82A, R82B, R82C, R82D, R83A, R83B, R83C, R83D, R84, R85, R86, R87, R88, R89, R90 R2A, R2B, R2C R11A, R11B, R11C, R11D, R11E, R11F R12A, R12B, R12C, R12D, R12E, R12F, R13A, R13B, R13C, R13D, R13E, R13F R14A, R14B, R14C, R14D, R14E, R14F R17, R20, R30, R33, R34, R39 R18, R19, R21, R55 R22, R23, R24, R35, R36, R80, R91, R92 R25A, R25B, R26A, R26B R29 R31 R32 R37, R46, R47 R38, R40 R45 R48 R49 R56, R57 R59 S1 S2, S3 U1A, U1B, U1C U2A, U2B, U2C U3A, U3B, U3C U4A, U4B

1 2 1 1 56

3 6 12

6 6 4 8 4 1 1 1 3 2 1 1 1 2 1 1 2 3 3 3 2

ADR3430ARJZ-R7 LT6105

Voltage reference Current sense amplifier

MR4A16BCYS35 TPS22943DCKR STM32F767IIT6 7A-24.000MAAJ-T TPS2111PW

MRAM 16Mb Power switch Microcontroller Crystal Power distribution switch Step-down converter USB to UART IC Temperature sensor 16-bit I/O Expander QSPI flash memory RTC CAN bus transeiver 2-bit bus switch 8-bit bus switch

TPS62046DGQ FT230XS-R MCP9808T-E/MC MCP23S17T-E/ML MT25QL512ABB RV-3049-C3 TCAN337GDCNT SN74CB3Q3306A SN74CB3Q3245

U5 U6A, U6B, U6C, U6D, U6E, U6F U7 U8A, U8B, U8C U9 U10 U11

1 6

U12 U13 U14A, U14B, U14C U15 U16A, U16B U17 U18 U19A, U19B, U19C, U19D U20

1 1 3 1 2 1 1 4 1

Table 4.1: Onboard computer system’s bill of materials.

38

1 3 1 1 1

Value/Name 100nF

Description Ceramic capacitor

3.9nF 1uF 2.2nF 1nF

Ceramic capacitor Ceramic capacitor Ceramic capacitor Ceramic capacitor

100uF 10uF 100 nF

Ceramic capacitor Ceramic capacitor Feed-Through Capacitor Light Emitting Diode Inductor Resistor

LED * nH 100k

270R KXRB5-2050 LIS3MDL MPU-6000 LMT86DCK

Designator C1, C5, C7, C9A, C9B, C11A, C11B, C12A, C12B, C12C, C12D, C12E, C18, C19, C23, C25, C31, C32 C2, C3, C4 C6, C17 C10A, C10B C13A, C13B, C13C, C13D, C13E C22 C30, C37 C38

Quantity 18

D1 L1 R1, R2, R3A, R3B, R4A, R4B, R4C, R4D, R4E, R9, R11, R12, R13 R10 U1 U2 U4A, U4B U6A, U6B, U6C, U6D, U6E

1 1 13

3 2 2 5 1 2 1

Resistor 1 Accelerometer 1 Magnetometer 1 Gyroscope 2 Analog Temperature 5 Sensor ADS8332IRGET 16-Bit, 500-kSPS, 8- U7 1 Channel ADC ADR3430ARJZ-R7 Voltage reference U8 1 Table 4.3: Attitude and orbit control system’s expansion board bill of materials.

39

1

2

3

COTP49 TP49

COTP52 TP52

PER_VCC

GND

PITP4900PER_PWR_FLT

PITP5200

4

GND

A

A

COJP5 JP5 1 PIJP501 3 PIJP503 5 PIJP505 7 PIJP507

COJP18 JP18

2 RW_PWR

PIJP502

4 PIJP504 6 PIJP506

1 PIJP1801 2 PIJP1802 3 PIJP1803 4 PIJP1804

NLEPS03V3 EPS_3V3

8 PIJP508

NLMRAM0PWR MRAM_PWR

1 PIJP301 2 PIJP302

NLSTM320PWR STM32_PWR

NLPER0PWR PER_PWR

3 PIJP303 4 PIJP304

GND

EPS PWR PWR_SEL GND

PWR_SEL

PIC6702

PIC6701

NLPER0PWR0FLT PER_PWR_FLT

C67 PIC6703 COC67

PIC6501 COC65 C65 PIC6502 10uF

PIC6 01 COC66 C66 PIC6 02 10uF

GND C1210

GND

C1210

GND

COJP7 JP7 1 PIJP701 3 PIJP703 5 PIJP705 7 PIJP707 9 PIJP709 ICP0_ACCESS 11 PIJP7011 ICP0_SHUTUP 13 PIJP7013

B

ICP0_B ICP0_A ICP1_A ICP1_B GND

2 PIJP702

4 6 PIJP706 8 PIJP708 10 PIJP7010 12 PIJP7012 14 PIJP7014 PIJP704

NLICP00A ICP0_A NLICP00B ICP0_B

NLICP00ACCESS ICP0_ACCESS

NLICP00SHUTUP ICP0_SHUTUP NLICP10A ICP1_A NLICP10B ICP1_B

GND

NLICP10SHUTUP ICP1_SHUTUP NLICP10ACCESS ICP1_ACCESS NLSP0INT SP_INT NLCOM0INT COM_INT NLEPS0INT EPS_INT

GND

SYSTEM BUS

40 COJP9 JP9 1 PIJP901 TO_ESAIL_INT 3 PIJP903 FROM_ESAIL_INT 5 PIJP905 TO_OPTICAL_INT 7 PIJP907 FROM_OPTICAL_INT 9 PIJP909 FROM_HSCOM_INT 11 PIJP9011

GND

C

2 PIJP902 4 PIJP904

NLPL0B PL_B NLPL0A PL_A

PL_B PL_A

NLCANL CANL

6 8 CANL PIJP908 10 CANH PIJP9010 12 TO_HSCOM_INT PIJP9012

GND

PIJP906

MRAM_VDD STM32_VDD QSPI_VDD RS485_VDD AOCS1_VDD AOCS2_VDD CAN_VDD

USB_POWER DBG_RXD DBG_TXD

COJP4 JP4 1 PIJP401 2 PIJP402 3 PIJP403 4 PIJP404

USB_POWER TX VCC RX BOARD_PWR_IN

PWR_SEL

GND

ICP1_ACCESS ICP1_SHUTUP SP_INT COM_INT EPS_INT

U_DEBUG DEBUG_ML.SchDoc

U_OBCS_HL OBCS_HL.SchDoc

COJP3 JP3

NLCANH CANH NLFROM0OPTICAL0INT FROM_OPTICAL_INT NLTO0OPTICAL0INT TO_OPTICAL_INT NLFROM0ESAIL0INT FROM_ESAIL_INT

NLTO0ESAIL0INT TO_ESAIL_INT NLFROM0HSCOM0INT FROM_HSCOM_INT NLTO0HSCOM0INT TO_HSCOM_INT

PAYLOAD BUS

MAIN_A MAIN_B MAIN_ACCESS MAIN_SHUTUP BACKUP_A BACKUP_B BACKUP_SHUTUP BACKUP_ACCESS SIDE_PANEL_INT COM_INT EPS_INT

PAYLOAD_B PAYLOAD_A CANL CANH OPTICAL_INT_IN OPTICAL_INT_OUT TETHER_INT_IN TETHER_INT_OUT FROM_HSCOM_INT TO_HSCOM_INT

STAR_TRACKER_INT STAR_TRACKER_TX STAR_TRACKER_RX

NLST0INT ST_INT

NLST0TX ST_TX

NLST0RX ST_RX

GND

COJP8 JP8 ST_INT 1 PIJP801 3 PIJP803 5 PIJP805

2 PIJP802 4 6

PIJP804 PIJP806

B

ST_RX ST_TX

GND

STAR TRACKER BUS

COJP10 JP10 MRAM_SENSE QSPI_SENSE AOCS_A_SENSE AOCS_B_SENSE ICP_SENSE

NLMRAM0SENSE MRAM_SENSE1

PIJP1001

NLQSPI0SENSE QSPI_SENSE 3 PIJP1003

NLAOCS0A0SENSE AOCS_A_SENSE 5 PIJP1005 NLAOCS0B0SENSE AOCS_B_SENSE 7 PIJP1007 NLICP0SENSE ICP_SENSE 9 PIJP1009

2 PIJP1002 4 PIJP1004 6 8 10

GND

PIJP1006 PIJP1008

C

PIJP10010

TEST BUS PAYLOAD_SENSE

NLPAYLOAD0SENSE PAYLOAD_SENSE

RW_PWR

PIC7302 PIC7402 PIC7502 COC73 COC74 COC75 C73 C74 C75 PIC7301 10uF PIC7401 10uF PIC7501 10uF C0805 GND

GND

C0805

C0805

GND

COJP11 JP11 1 PIJP1101 3 PIJP1103 5 PIJP1105

RW_PWR 2 PIJP1102 4 6

PIJP1104 PIJP1106

COJP12 JP12 1 PIJP1201 3 PIJP1203 5 PIJP1205

RW1_BUS

NLRW0PWR RW_PWR

RW_PWR 2 PIJP1202 4 6

PIJP1204 PIJP1206

COJP13 JP13 1 PIJP1301 3 PIJP1303 5 PIJP1305

RW2_BUS

2 PIJP1302 4 6

PIJP1304 PIJP1306

SCL SDA

RW3_BUS

OBCS.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D GND

1

GND

GND

2

3

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

Figure 4.2: On-board computer system connectors with system’s high level overview.

D

Sheet: 1

of 25

1

2

3

4

COTP50 TP50 POUSB0POWER USB_POWER PIC4601

PIC4801 A

GND 10uF C1210

PIC4901

GND

MRAM_VDD COC49 POMRAM0VDD C49 10uF C1210

COC47 C47 PIC4701

PIC4702MRAM_PWR_FLT

PIC4703

PIC5102

PIC50 1

COC50 C50 10uF C1210GND

PIC5101

GND U_IO_Expander_CL IO_Expander_CL.SchDoc VCC_STM32

NLGPA000070 GPA[0..7] COTP7 TP7

IO_VCC

INTA INTB

GPA[0..7]

CLK SDI SDO CS

PITP700MCU_PER_SPI_CLK

MISO COTP10 TP10 PITP1000MCU_FRAM_CS

GPB[0..7]

GPB[0..7]

PITP800MCU_PER_SPI_MOSI

NLGPB0 70

VCC_STM32

RTC_CS

VCC_STM32

PITP1300

RTC COTP11 TP11 GND

PITP1100

GND

COC51 C51 10uF C1210

GND

NLEXPANDER0INTA EXPANDER_INTA NLEXPANDER0INTB EXPANDER_INTB

IO_EXP_INTA IO_EXP_INTB

NLMCU0PER0SPI0CLK MCU_PER_SPI_CLK NLMCU0PER0SPI0MOSI MCU_PER_SPI_MOSI NLMCU0PER0SPI0MISO MCU_PER_SPI_MISO NLEXP0CS EXP_CS NLMCU0FRAM0CS MCU_FRAM_CS NLRTC0CS RTC_CS

SPI_D_CLK SPI_D_MOSI SPI_D_MISO IO_EXP_CS FRAM1_CS RTC_CS

U_AOCS_A AOCS_ML.SchDoc

VCCCLK SDI SDO CS

NLAOCS10X1 AOCS1_X1 NLAOCS10X2 AOCS1_X2 NLAOCS10X3 AOCS1_X3 NLAOCS10SYNC AOCS1_SYNC NLAOCS10GYR10INT AOCS1_GYR1_INT

SYNC GYR1_INT

NLAOCS10MAG0RDY AOCS1_MAG_RDY

MAG_RDY

ADC_ERR

NLAOCS10SDA AOCS1_SDA NLAOCS10SCL AOCS1_SCL

SDA SCL

NLSPI0A0CLK SPI_A_CLK NLSPI0A0MISO SPI_A_MISO NLSPI0A0MOSI SPI_A_MOSI

SPI_CLK SPI_MISO SPI_MOSI

41

U_AOCS_B AOCS_ML.SchDoc

POAOCS20VDD AOCS2_VDD

VCC

For testing purposes

NLAOCS0A0EN AOCS_A_EN NLAOCS0A0SENSE AOCS_A_SENSE

NLSPI0B0CLK SPI_B_CLK NLSPI0B0MISO SPI_B_MISO NLSPI0B0MOSI SPI_B_MOSI NLAOCS20SDA AOCS2_SDA

SDA SCL

NLAOCS20SCL AOCS2_SCL NLAOCS20SYNC AOCS2_SYNC NLAOCS20GYR10INT AOCS2_GYR1_INT

SYNC GYR1_INT

COTP4 TP4

QSPI_CLK QSPI1_IO0 QSPI1_IO1 QSPI1_IO2 QSPI1_IO3

VCC

POQSPI0VDD QSPI_VDD

QSPI2_IO0 QSPI2_IO1 QSPI2_IO2 QSPI2_IO3

QSPI2_IO0 QSPI2_IO1 QSPI2_IO2 QSPI2_IO3

QSPI_CS1 QSPI_CS2

A

QSPI_CS1 QSPI_CS2

NLQSPI0SENSE QSPI_SENSE NLQ0PWR0EN Q_PWR_EN

GPA[0..7]

QSPI_SENSE EN

NLGPA0 GPA0

FAULT

PODBG0RXD DBG_RXD PODBG0TXD DBG_TXD

DBG_RXD DBG_TXD U_SYS_INT BusSwitch2_CL.SchDoc

NLCOM0INT0I COM_INT_I NLSYS0INT0EN0I SYS_INT_EN_I NLEPS0INT0I EPS_INT_I

COM_INT SYS_INT_EN EPS_INT

1A EN 2A

VCC 1B 2B

SYS_VCC POCOM0INT COM_INT POEPS0INT EPS_INT

PAYLOAD_INT_EN

NLAOCS20MAG0RDY AOCS2_MAG_RDY

MAG_RDY

AOCS1_SDA AOCS1_SCL SPI_A_CLK SPI_A_MISO SPI_A_MOSI AOCS_A_EN AOCS_A_SENSE

SPI_B_CLK SPI_B_MISO SPI_B_MOSI AOCS2_SDA AOCS2_SCL

A[0..7]

NLA0 A0 NLA1 A1 NLA2 A2 NLA3 A3 NLA4 A4 NLA5 A5

FROM_HSCOM_INT TO_HSCOM_INT OPTICAL_INT_IN OPTICAL_INT_OUT TETHER_INT_IN TETHER_INT_OUT

B VCC

PL_PWR

B[0..7]

NLA0 0 70

NLB0 07

NLB0 B0 NLB1 B1 NLB2 B2 NLB3 B3 NLB4 B4 NLB5 B5

POFROM0HSCOM0INT FROM_HSCOM_INT TO_HSCOM_INT

POTO0HSCOM0INT

POOPTICAL0INT0IN OPTICAL_INT_IN POOPTICAL0INT0OUT OPTICAL_INT_OUT POTETHER0INT0IN TETHER_INT_IN POTETHER0INT0OUT TETHER_INT_OUT

U_MAIN_ICP_BUS_SWITCH BusSwitch2_CL.SchDoc

NLSYSM0ACC0I SYSM_ACC_I NLSYSM0EN0I SYSM_EN_I NLSYSM0SH0I SYSM_SH_I

SYS_MAIN_ACCESS SYS_MAIN_EN SYS_MAIN_SHUTUP

AOCS2_MAG_RDY

1A EN 2A

VCC 1B 2B

SYS_VCC POMAIN0ACCESS MAIN_ACCESS POMAIN0SHUTUP MAIN_SHUTUP

U_BACKUP_ICP_BUS_SWITCH BusSwitch2_CL.SchDoc

AOCS2_SYNC AOCS2_GYR1_INT

ADC_ERR

PITP400

OE

NLSYSB0ACC0I SYSB_ACC_I NLSYSB0EN0I SYSB_EN_I NLSYSB0SH0I SYSB_SH_I

SYS_BACKUP_ACCESS SYS_BACKUP_EN SYS_BACKUP_SHUTUP

1A EN 2A

VCC 1B 2B

SYS_VCC POBACKUP0ACCESS BACKUP_ACCESS POBACKUP0SHUTUP BACKUP_SHUTUP

C

AOCS_B_ERR

NLGPB3 GPB3

MAG_INT OUT1 OUT2

NLGPB1 GPB1 NLGPB0 GPB0 NLGPB2 GPB2

U_SP_ST_BUS_SWITCH BusSwitch2_CL.SchDoc

GYR2_INT

NLAOCS20X1 AOCS2_X1 NLAOCS20X2 AOCS2_X2 NLAOCS20X3 AOCS2_X3

X1 X2 X3

NLAOCS0B0EN AOCS_B_EN NLAOCS0B0SENSE AOCS_B_SENSE

AOCS_EN AOCS_FLT AOCS_SENSE

NLGPA5 GPA5

U_I2C_ML TEMPERATURE_ML.SchDoc VCC_STM32

NLGPA4 GPA4

VCC FLT

PITP10

NLTEMP0I2C0EN TEMP_I2C_EN NLTEMP0I2C0SDA TEMP_I2C_SDA NLTEMP0I2C0SCL TEMP_I2C_SCL

CAL_AL

POCAN0VDD CAN_VDD

VCC_IN

NLGPA2 GPA2 NLGPA1 GPA1

CAN_FLT FLT

POCANH CANH POCANL CANL PL_PWR

PL_PWR

3

1A EN 2A

VCC 1B 2B

VCC_STM32 POS\I\D\E\0\P\A\N\E\L\0\I\N\T\ SIDE_PANEL_INT POS\T\A\R\0\T\R\A\C\K\E\R\0\I\N\T\ STAR_TRACKER_INT

POSTAR0TRACKER0TX STAR_TRACKER_TX POSTAR0TRACKER0RX STAR_TRACKER_RX

STAR_TRACKER_TX STAR_TRACKER_RX U_RS485_ML ICP_ML.SchDoc ICP_EN ICP_SENSE

NLICP0SENSE ICP_SENSE

MAIN_DE

EN ICP_SENSE

MAIN_A MAIN_B BACKUP_A BACKUP_B

POMAIN0A MAIN_A POMAIN0B MAIN_B POBACKUP0A BACKUP_A POBACKUP0B BACKUP_B

MAIN_DE

MAIN_RXD MAIN_TXD

MAIN_R MAIN_T

SYS_PWR

SYS_VCC

BACKUP_DE

NLGPA7 GPA7

FAULT CAN_RXD CAN_TXD

CAN1_RX CAN1_TX

SLT_MODE EN

SLT_MODE CAN_EN

NLPAYLOAD0SENSE PAYLOAD_SENSE

PAYLOAD_SENSE PAYLOAD_DE

PAYLOAD_B PAYLOAD_A

NLSP0INT0I SP_INT_I NLSP0ST0EN0I SP_ST_EN_I NLST0INT0I ST_INT_I

SIDE_PANEL_INT SP_ST_EN STAR_TRACKER_INT

BACKUP_DE

CANH CANL

POPAYLOAD0B PAYLOAD_B POPAYLOAD0A PAYLOAD_A 2

TEMPERATURE_EN I2C_SDA I2C_SCL

U_CAN_ML PAYLOAD_ML.SchDoc

COTP2 TP2

MRAM_AL QSPI_AL

AOCS_B_EN AOCS_B_SENSE

POSDA SDA POSCL SCL

PITP20

COTP1 TP1

AOCS2_X1 AOCS2_X2 AOCS2_X3

TEMP_I2Ci

EN SDA SCL

MRAM_ALERT SDMMC_ALERT CAN_ALERT

1

VCC_STM32

AOCS_Bi

SPI_CLK SPI_MISO SPI_MOSI

Y6 Y7

POAOCS0B0SENSE AOCS_B_SENSE POAOCS0A0SENSE AOCS_A_SENSE POPAYLOAD0SENSE PAYLOAD_SENSE POICP0SENSE ICP_SENSE POQSPI0SENSE QSPI_SENSE POMRAM0SENSE MRAM_SENSE

C

QSPI_CLK QSPI1_IO0 QSPI1_IO1 QSPI1_IO2 QSPI1_IO3

A[0..7]

VCC GYR2_INT MAG_INT OUT1 OUT2

AOCS_EN AOCS_FLT AOCS_SENSE

COTP0 TP0

AOCS1_MAG_RDY

VCC

U_BusSwitch8_CL BusSwitch8_CL.SchDoc

AOCS_A_ERR POAOCS10VDD AOCS1_VDD

AOCS_B_SENSE AOCS_A_SENSE PAYLOAD_SENSE ICP_SENSE QSPI_SENSE MRAM_SENSE

Vref U_QSPI_ML QSPI_ML.SchDoc

AOCS1_SYNC AOCS1_GYR1_INT

SCLK SDI CLKOE SDO CLKOUT CS INT

NLGPA6 GPA6

PITP0 0

AOCS1_X1 AOCS1_X2 AOCS1_X3

VCC

NLGPB6 GPB6 NLGPB7 GPB7 NLGPB5 GPB5 NLGPB4 GPB4

8

U_STM32_V_REF 3V_Reference_AO_CL.SchDoc

QSPI_SENSE QSPI_EN

AOCS_Ai X1 X2 X3

Y6 Y7

PITP300

NLGPA3 GPA3

FMC_NOE FMC_NWE FMC_NE3 FMC_NBL0 FMC_NBL1 FMC_A[0..19] FMC_D[0..15] MRAM_SENSE

NLFMC0A0000190 FMC_A[0..19] NLFMC0D0000150 FMC_D[0..15] NLMRAM0SENSE MRAM_SENSE

COTP3 TP3

D

7

V_REF

FMC_NOE FMC_NWE FMC_NE FMC_NBL0 FMC_NBL1 FMC_A[0..19] FMC_D[0..15] MRAM_SENSE

U_RTC_CL RTC_CL.SchDoc

EXP

B

VCC

U_FRAM_BANK3 FRAM_CL.SchDoc

FRAM COTP12 TP12 PITP1200EXP_CS

COTP13 TP13

MRAM_VCC

6

U_STM32 STM32FxxxIx_CL.SchDoc

U_MRAM MRAM_CL.SchDoc

PIC50 2

GND

MSOI COTP9 TP9 PITP900MCU_PER_SPI_MISO

VCC_STM32

VCC

PIC4902

COC48 C48

CLK COTP8 TP8

PITP5100MRAM_PWR_FLT

PIC4602

PIC4603

PIC4802

5

COTP51 TP51NLMRAM0PWR0FLT

B[0..7]

COC46 C46

POSTM320VDD STM32_VDD

VCC_STM32 STM32_VCC PITP5000

PAYLOAD_R PAYLOAD_T

BACKUP_RXD BACKUP_TXD

BACKUP_R BACKUP_T

D

Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

PAYLOAD_SENSE PAYLOAD_DE

5

PORS4850VDD RS485_VDD

OBCS_HL.SchDoc

PAYLOAD_RXD PAYLOAD_TXD 4

VCC_IN

6

7

Figure 4.3: On-board computer system’s bus schematic between different parts.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B

Sheet: 2 8

of 25

1

2

3

4

A

A

U_STM32_RS485_SW powerSwitch_1_5A_CL.SchDoc B

POVCC0IN VCC_IN POF\A\U\L\T\ FAULT POEN EN

VCC_IN FAULT EN

VCC_OUT

U_STM32_RS485_SENSE currentSense_CL.SchDoc

NLSTM320RS4850PWR STM32_RS485_PWR POICP0SENSE ICP_SENSE

STM32_MAIN_RS485 RS485_HD_CL.SchDoc

VCC_IN VCC_OUT VCC SENSE

NLSYS0PWR SYS_PWR

RS485_VCC

DE

POSYS0PWR SYS_PWR

PIR4801

R T

COR48 R48

POMAIN0A MAIN_A POMAIN0B MAIN_B

A B

ILIM

NLM0DE M_DE NLM0RX M_RX NLM0TX M_TX

B i

MAIN_RS485

i

BACKUP_RS485

POMAIN0DE MAIN_DE

POMAIN0R MAIN_R POMAIN0T MAIN_T

109k PIR4802 R0603 STM32_BACKUP_RS485 RS485_HD_CL.SchDoc

COTP56 TP56 PITP5600

42

SYS_PWR

GND

RS485_VCC

DE R T

COTP40 TP40 C

B_DE

PITP4000

DE1

COTP38 TP38

POBACKUP0A BACKUP_A POBACKUP0B BACKUP_B

A B

NLB0DE B_DE

NLB0RX B_RX NLB0TX B_TX

POBACKUP0DE BACKUP_DE POBACKUP0R BACKUP_R POBACKUP0T BACKUP_T

COTP44 TP44 PITP4400

GND

C

GND B_TX

PITP3800

TX1

COTP45 TP45 PITP4500

GND

GND

COTP39 TP39

PITP3900B_RX

RX1

COTP41 TP41

PITP4100M_DE

DE0

COTP43 TP43

M_TX

PITP4300

TX0

COTP42 TP42

M_RX

ICP_ML.SchDoc

PITP4200

RX0

Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.4: On-board computer system’s ICP schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 3

of 25

1

2

3

4

A

A

AOCS_POWER powerSwitch_40-100mA_AH_CL.SchDoc

POVCC VCC POAOCS0F\L\T\ AOCS_FLT POAOCS0EN AOCS_EN

VCC_IN FLT EN

VCC_OUT

AOCS_SENSE currentSense_CL.SchDoc

NLAOCS0PWR AOCS_PWR POAOCS0SENSE AOCS_SENSE

NLAOCS0PWR0SENSED AOCS_PWR_SENSED

VCC_IN VCC_OUT VCC SENSE

B

B SPI_DECODER 3-to-8_Decoder_CL.SchDoc

POX1 X1 POX2 X2

POX3 X3

43

VCC_DEC Y1 X1 Y2 X2 Y3 X3 Y4 Y5 Y7 Y6

AOCS AOCS_Connector_CL.SchDoc GYR1_CS GYR2_CS MAG_CS ADC_CS

POY7 Y7 Y6POY6

POSYNC SYNC

SYNC

VCC_CON ADC_ERR GYR1_INT GYR2_INT MAG_INT MAG_RDY OUT1 OUT2 CLK MISO MOSI

POADC0ERR ADC_ERR

POGYR10INT GYR1_INT POGYR20INT GYR2_INT POMAG0INT MAG_INT POMAG0RDY MAG_RDY

POOUT1 OUT1 POOUT2 OUT2 POSPI0CLK SPI_CLK POSPI0MISO SPI_MISO

POSPI0MOSI SPI_MOSI

C

C

PIR2502

PIR2602 COR25 R25

COR26 R26

3.9k

3.9k

PIR2501 R0603 FRAM FRAM_CL.SchDoc VCC

PIR2601 R0603 POSCL SCL

POSDA SDA

SCL SDA

CS CLK SDO SDI

AOCS_ML.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B

D

Sheet: 4

of 25

4

Figure 4.5: Attitude and orbit control system’s component connection schematic on on-board computer system.

1

2

3

4

A

A

PAYLOAD_SWITCH powerSwitch_1_5A_CL.SchDoc

B

POVCC0IN VCC_IN

VCC_IN

POEN EN POF\L\T\ FLT

EN FAULT

PAYLOAD_SENSE currentSense_CL.SchDoc

NLPAYLOAD0PWR PAYLOAD_PWR

VCC_OUT

VCC_IN VCC_OUT VCC SENSE

POPAYLOAD0SENSE PAYLOAD_SENSE

POPL0PWR PL_PWR

CAN_BUS CAN_bus_CL.SchDoc

POSLT0MODE SLT_MODE

NLCAN0FLT CAN_FLT

POCAN0FLT CAN_FLT ILIM

NLCAN0RXD CAN_RXD

POCAN0RXD CAN_RXD POCAN0TXD CAN_TXD

PIR5902 COR59 R59

VCC SLT_MODE CAN_FLT

NLSLT0MODE SLT_MODE

CAN_RXD CAN_TXD

NLCAN0TXD CAN_TXD

COTP54 TP54

*R

PITP5400

PIR5901 R0603

44

PL_PWR PAYLOAD_RS485 RS485_HD_CL.SchDoc

GND

COTP36 TP36

RS485_VCC

PITP3600SLT_MODE

A B

CAN_MODE

COTP37 TP37 C

B

POCANH CANH POCANL CANL

CANH CANL

DE

CAN_FLT

PITP3700

CAN_FLT

COTP29 TP29

R T

CAN_RXD

POPAYLOAD0A PAYLOAD_A POPAYLOAD0B PAYLOAD_B NLPAYLOAD0DE PAYLOAD_DE NLPAYLOAD0R PAYLOAD_R NLPAYLOAD0T PAYLOAD_T

i

PAYLOAD_RS485

POPAYLOAD0DE PAYLOAD_DE C

POPAYLOAD0R PAYLOAD_R POPAYLOAD0T PAYLOAD_T

PITP2900

CAN_RX

COTP30 TP30

PITP3000CAN_TXD

COTP32 TP32

PITP3200PAYLOAD_DE

CAN_TX

PL_DE

COTP31 TP31

COTP33 TP33

PITP3100

GND

GND

PAYLOAD_T

PITP3300

PL_TX

COTP34 TP34

PAYLOAD_R

PITP3400

PL_RX

COTP35 TP35 PITP3500

GND

GND

PAYLOAD_ML.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.6: On-board computer systems payload interfaces schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 5

of 25

1

2

3

4

COTP19 TP19

PITP1900QSPI_CLK

COTP22 TP22

Q_CLK

QSPI2_IO0

COTP15 TP15

QSPI2_IO1

COTP16 TP16

PITP2200

IO0

COTP27 TP27 PITP2700

A

COTP23 TP23 GND

GND PITP2800

PITP1600QSPI1_IO1

IO1

COTP24 TP24

COTP28 TP28

IO1

QSPI2_IO2

COTP17 TP17

PITP2500QSPI2_IO3

COTP18 TP18

PITP2400

GND

GND

IO2

A

COTP21 TP21 PITP2100

QSPI1_IO2

GND

GND

PITP1700

COTP25 TP25

IO2

IO3

COTP26 TP26

QSPI1_IO0

PITP1500

IO0

PITP2300

QSPI1_IO3

PITP1800

IO3

QSPI_CS2

COTP20 TP20

PITP2600

PITP2000QSPI_CS1

QCS_2

QCS1

QSPI_POWER_SWITCH powerSwitch_1_5A_CL.SchDoc

POVCC VCC B

POF\A\U\L\T\ FAULT POEN EN

VCC_IN FAULT EN

QSPI_SENSE currentSense_CL.SchDoc

NLQSPI0PWR QSPI_PWR

VCC_OUT

POQSPI0SENSE QSPI_SENSE

VCC_IN VCC_OUT VCC SENSE

QSPI1 QSPI_CL.SchDoc

NLQSPI0SENSED QSPI_SENSED

VDD

i

ILIM

IO0 IO1 IO2 IO3 CS

PIR4902 COR49 R49 75k

NLQSPI0CLK QSPI_CLK

CLK

NLQSPI10IO0 QSPI1_IO0 NLQSPI10IO1 QSPI1_IO1 NLQSPI10IO2 QSPI1_IO2 NLQSPI10IO3 QSPI1_IO3 NLQSPI0C\S\1\ QSPI_CS1

POQSPI10IO0 QSPI1_IO0 POQSPI10IO1 QSPI1_IO1 POQSPI10IO2 QSPI1_IO2

NLQSPI20IO0 QSPI2_IO0 NLQSPI20IO1 QSPI2_IO1 NLQSPI20IO2 QSPI2_IO2 NLQSPI20IO3 QSPI2_IO3 NLQSPI0C\S\2\ QSPI_CS2

POQSPI20IO0 QSPI2_IO0 POQSPI20IO1 QSPI2_IO1 POQSPI20IO2 QSPI2_IO2 POQSPI20IO3 QSPI2_IO3

QSPI

POQSPI0CLK QSPI_CLK B

POQSPI10IO3 QSPI1_IO3 POQSPI0C\S\1\ QSPI_CS1

COTP53 TP53

PIR4901 R0603

PITP5300

QSPI_PWR QSPI2 QSPI_CL.SchDoc

45

GND

VDD

CLK IO0 IO1 IO2 IO3 CS

POQSPI0C\S\2\ QSPI_CS2

C

C

QSPI_ML.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.7: QSPI flash memory components schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 6

of 25

1

2

3

4

A

A

OPTION 2

COR45 R45 PIR4502

PIR4501

100R R0603 OPTION 1 U_STM32_PER_SW powerSwitch_40-100mA_AH_CL.SchDoc

POVCC VCC

VCC_IN

POF\L\T\ FLT

FLT

POEN EN

EN

NLI2C0PWR I2C_PWR

VCC_OUT

B

PIR4602 U_MRAM_TEMP TemperatureSensor_CL.SchDoc

ADDRESS: 0011011

GND

VCC A0 SDA A1 SCL A2 ALERT

PIR4601

B

PIR4702 COR46 R46

COR47 R47

4.7k R0603

4.7k R0603

PIR4701

POSDA SDA POSCL SCL POMRAM0ALERT MRAM_ALERT

POSDMMC0ALERT SDMMC_ALERT POCAN0ALERT CAN_ALERT

46

U_SDMMC_TEMP TemperatureSensor_CL.SchDoc

ADDRESS: 0011001

GND

U_CAN_TEMP TemperatureSensor_CL.SchDoc

COTP55 TP55

C

VCC A0 SDA A1 SCL A2 ALERT

PITP5500

I2C_PWR GND

C

VCC A0 SDA A1 SCL A2 ALERT

ADDRESS: 0011000

TEMPERATURE_ML.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.8: Temperature sensor components schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 7

of 25

1

2

3

4

EXT_PWR

PIR2902

VCC

COR29 R29

COU11 U11 1 PIU1101 D0 IN1 2 PIU1102 D1 OUT 3 PIU1103 VSNS IN2 4 PIU1104 ILIM GND

1k PIR2901 R0603

A

PIR30 2

PIR3102

COR30 R30

COR31 R31

10k

PIR30 1 R0603

8 7 PIU1107 6 PIU1106 5 PIU1105

POBOARD0PWR0IN BOARD_PWR_IN POVCC VCC USB_3V3

PIC5 02 PIC5 01

TPS2111PW

500R

GND

PIR3101 R0603

EXT_PWR

PIU1108

PIC5402

PIC5401

COC55 C55 100nF C0603

PIC5302 PIC5301

COC54 C54 100nF C0603

A

COC53 C53 10uF C1210

GND GND GND

GND

1A CURRENT LIMIT

GND USB_FILTERED

COF1 F1

COFB2 FB2 PIFB202

PIFB201

PIF101

R0805

B

PIF102

PIC5602 PIC5601

*A MINISMDC075F

COC56 C56 22uF C1210

COU12 U12 2 PIU1202 VIN 3 PIU1203 VIN 1 PIU1201 EN

SW SW

FB 6 PIU1206 MODEPGND 4 PIU1204 GND PGND PAD

GND

8 7

PIU1208

COL2 L2 PIL201

USB_3V3

PIL202

6.2uH CDRH5D28

PIU1207

PIC5702 PIC5701

5 PIU1205 9 PIU1209 10 PIU12010 11 PIU12011

TPS62046DGQ

COR32 R32

22uF C1210

PIR3201 PIUSB0PWR01 PIUSB0PWR02

GND

47

GND

B

PIR3202

COC57 C57

560R R0603

COUSB0PWR USB_PWR *

GND GND

POUSB0POWER USB_POWER COTP46 TP46

COTP48 TP48

DB_TX

PITP4600

C

PITP4800

DB_TX

GND

GND

C

COTP47 TP47

PIC5902 PIC5901

COC59 C59 100nF C0603

PIC60 2 PIC60 1

COC60 C60

PIR3402

PIR3 02

PITP4700DB_RX

COR33 R33

DB_RX

10k

PIR3 01 R0603

200nF C0603

PIR3602

PIR3502

COR34 R34

COR35 R35

10k

PIR3401 R0603

270R

PIR3501 R0603

COR36 R36 270R

PIR3601 R0603

COU13 U13 GND

GND

COX1 X1

PIU13012 PIU1303

PIU13010

USB

PIR3802

PIR3801

27R R0603 COR40 R40

PIX10D0 PIX10D0

PIR4002

USB

PIC6102 PIC6101

GND

COC61 C61 47pF C0603

PIC6202 PIC6201

9

PIU1309

TXD RXD RTS# CTS#

PIU1301

USBDM

CBUS0 CBUS1 CBUS2 CBUS3

PIU13015

GND GND

PIU13013

8

PIU1308

USBDP

11

PIU13011

RESET#

PIR4001

27R R0603

COC62 C62 47pF C0603

1 4 2

VCC VCCIO 3V3OUT

COR38 R38

VCC D+ DGND PIX10GND PIX10VCC

D

12 3 10

PIU1304

NLDB0TX DB_TX NLDB0RX DB_RX

USB_FILTERED

POTX TX PORX RX

PIU1302 6 PIU1306

GND

15 14 7 PIU1307 16 PIU13016 13 5

PIU1305

PIR3901

GND

10k R0603

DEBUG_ML.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

GND

FT230XS-R

2

COR39 R39 PIR3902

PIU13014

GND

1

PIRX0LED01 PITX0LED01 CORX0LED COTX0LED RX_LED TX_LED PIR3702 COR37 PIRX0LED02 * PITX0LED02 * R37 4.7k PIR3701 R0603

3

Figure 4.9: USB debug interface and power source selection schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 8

of 25

1

2

3

4

5

6

FMC_A[0..19]

511-STM32F767IIT6 U9B NLFMC0A10 FMC_A10 66 PIU9066 PG0PH0-OSC_IN(PH0) NLFMC0A11 FMC_A11 67 PIU9067 PG1 PH1-OSC_OUT(PH1) NLFMC0A12 FMC_A12 106 PIU90106 PG2 PH2 NLFMC0A13 FMC_A13 107 PIU90107 PG3 PH3 NLFMC0A14 FMC_A14 108 PIU90108 PG4 PH4 NLFMC0A15 FMC_A15 109 PIU90109 PG5 PH5 110 PIU90110 POFMC0NE3 FMC_NE3 PG6 PH6 111 PIU90111 POSYS0MAIN0SHUTUP SYS_MAIN_SHUTUP PG7 PH7

NLFMC0A 190

PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7 PI8 PI9 PI10 PI11

30 PIU9030 43 PIU9043 45

46 PIU9046 83 PIU9083 84 PIU9084 85 PIU9085 87 PIU9087 88 PIU9088 89 PIU9089 128 PIU90128 129 PIU90129 130 PIU90130

PIR1902

COFB1 FB1

NRST

PIFB102

PIR1901

PIS104 PIS103

PIS106 PIS101

JS202011SCQN GND

POFMC0NBL0 FMC_NBL0

COR20 R20 PIR2002

PIR2001

VCC

FMC_A[0..19]

10k R0603

PIC20 2 PIC20 1

GND

PIC2102

COC20 C20

PIC2101

2.2uF C0805

GND

PIC2 02

COC21 C21

PIC2 01

2.2uF C0805

GND

NLFMC0A19 FMC_A19

POFMC0NBL1 FMC_NBL1 POSPI0A0CLK SPI_A_CLK POIO0EXP0C\S\ IO_EXP_CS POSPI0A0MISO SPI_A_MISO POSPI0A0MOSI SPI_A_MOSI

COC22 C22 1nF C0603

PIR9202

48

GND

270R R0603

*

VCC

169 PIU90169 170 PIU90170 1 PIU901 2 PIU902 3 PIU903 4 PIU904 5 PIU905 NLFMC0D4 FMC_D4 68 PIU9068

COR21 R21

POIO0EXP0I\N\T\B\ IO_EXP_INTB

PIR2102

PIR2101

15 23 36 49 62 72 82 91 103 114 127 136 149 159 172

NLMCU0LED MCU_LED PIN 114 IS VDDUSB

0R R0603 C

COL1 L1 COSTM0PWR0LED STM_PWR_LED PIR2201

PIR2202 PISTM0PWR0LED01 PISTM0PWR0LED02

270R R0603

MCU_LED

PIMCU0LED01

PIR2301

VCC

270R R0603

COSW0LED SW_LED PISW0LED02

PIR2302

PISW0LED01

SWDIO SWCLK SWO NLNRST NRST

COR24 R24 PIR2401

PIR2402

COJP2 JP2 1 PIJP201 3 PIJP203 5 PIJP205 7 PIJP207 9 PIJP209 11 PIJP2011 13 PIJP2013 15 PIJP2015 17 PIJP2017 19 PIJP2019

VCC

PIS201

EVQQ

NLBOOT BOOT COC37 C37 PIC3702 PIC3701

GND

100nF C0603

1

2

COS3 S3 NRST_BUTTON PIS301 EVQQ

PIU9036 PIU9049

PIU9038

VDD VDD VDD

167 PIU90167

POCAN10RX CAN1_RX POCAN10TX CAN1_TX POQSPI0C\S\1\ QSPI_CS1 POSYS0INT0EN SYS_INT_EN POEPS0INT EPS_INT POAOCS20MAG0RDY AOCS2_MAG_RDY POCOM0INT COM_INT POSYS0MAIN0EN SYS_MAIN_EN

168 PIU90168 79 PIU9079

80 PIU9080 92 PIU9092

93 PIU9093 94

PIU9094

95 PIU9095

NLFMC0D2 FMC_D2 143 NLFMC0D3 FMC_D3

142 PIU90142

A

FMC_D[0..15]

PIU90143

144 PIU90144

POSTAR0TRACKER0RX STAR_TRACKER_RX POTETHER0INT0IN TETHER_INT_IN POFMC0NOE FMC_NOE POFMC0NWE FMC_NWE POS\T\A\R\0\T\R\A\C\K\E\R\0\I\N\T\ STAR_TRACKER_INT POAOCS20X3 AOCS2_X3

145 PIU90145 146 PIU90146 147 PIU90147 150 PIU90150 151 PIU90151 96 PIU9096 97 PIU9097 98

PIU9098

99 PIU9099 100 PIU90100 101 PIU90101 104 PIU90104 105 PIU90105 16 17 PIU9017 18 PIU9018 19 PIU9019 20 PIU9020 21 PIU9021 24 PIU9024 25 PIU9025

PF0 PF1 PF2 PF3 PF4 PF5 PF6 PF7

PIU9016

NLFMC0D13 FMC_D13 NLFMC0D14 FMC_D14 NLFMC0D15 FMC_D15 NLFMC0A16 FMC_A16 NLFMC0A17 FMC_A17 NLFMC0A18 FMC_A18 NLFMC0D0 FMC_D0 NLFMC0D1 FMC_D1

FMC_D[0..15] FMC_A[0..19] FMC_D[0..15]

NLFMC0A0 FMC_A0 NLFMC0A1 FMC_A1 NLFMC0A2 FMC_A2 NLFMC0A3 FMC_A3 NLFMC0A4 FMC_A4 NLFMC0A5 FMC_A5

POQSPI10IO3 QSPI1_IO3 POQSPI10IO2 QSPI1_IO2

26 PIU9026

PF8 PF9 PF10 PF11 PF12 PF13 PF14 PF15

POQSPI10IO0 QSPI1_IO0 POQSPI10IO1 QSPI1_IO1 POQSPI0CLK QSPI_CLK POICP0EN ICP_EN

27 PIU9027 28 59 60 PIU9060 63 PIU9063 64 PIU9064 65 PIU9065 PIU9028 PIU9059

B

NLFMC0A6 FMC_A6 NLFMC0A7 FMC_A7 NLFMC0A8 FMC_A8 NLFMC0A9 FMC_A9

POV0REF V_REF

14 PIU9014

PIU9062 VDD

VSS VSS VSS VSS PIU90103 VDD VSS PIU90114 VDDUSB VSS PIU90127 VDD VSS PIU90136 VDD VSS PIU90149 VDDMMC VSS PIU90159 VDD VSS PIU90172 VDD VSS PIU9072 PIU9082

22 61

VDD VDD

PIU9022

PIU9039

C

PIU9061

71 PIU9071

PIU9091 VDD

90 102 113 PIU90113 126 PIU90126 135 PIU90135 148 PIU90148 158 PIU90158 PIU9090

PIU90102

NLOSC0IN OSC_IN

1841952 COU10 U10 PIU1001 PIU1002

NLOSC0OUT OSC_OUT

7A-24.000MAAJ-T

PIC2302 PIC2301

37

VDDAVSSA

PIU9037

PIC2402

COC23 C23 2.2pF C0603

PIC2401

COC24 C24 2.2pF C0603

STM32F767IIT6 GND

GND

GND

*F 0805, FT VDDA/VSSA CAPS

PIC2602

VDD/VSS CAP COC28 C28 VCC

PIC2802 PIC2801

VDD/VSS CAPS

PIC2601

GND

PIC2702 COC26 C26 100nF C0603

PIC2701

COC27 C27 1uF C0603

4.7uF C0805

GND

FMC_A[0..19]

POFMC0A0000190 POFMC0A19 POFMC0A18 POFMC0A17 POFMC0A16 POFMC0A15 POFMC0A14 POFMC0A13 POFMC0A12 POFMC0A11 POFMC0A10 POFMC0A9 POFMC0A8 POFMC0A7 POFMC0A6 POFMC0A5 POFMC0A4 POFMC0A3 POFMC0A2 POFMC0A1 POFMC0A0 FMC_A[0..19]

FMC_D[0..15]

POFMC0D0 POFMC0D0000150 POFMC0D15 POFMC0D14 POFMC0D13 POFMC0D12 POFMC0D11 POFMC0D10 POFMC0D9 POFMC0D8 POFMC0D7 POFMC0D6 POFMC0D5 POFMC0D4 POFMC0D3 POFMC0D2 POFMC0D1 FMC_D[0..15]

VCC

PIC2902

GND PIR8001

PIU9023

GND

COR80 R80 PID701 PID702

*

PIS202

PB8 PB9 PB10 PB11 PB12 PB13 PB14 PB15

POSPI0D0MISO SPI_D_MISO POSPI0B0MOSI SPI_B_MOSI POAOCS20SCL AOCS2_SCL POAOCS20SDA AOCS2_SDA

STM32F767IIT6 38

VBATVREF+

PIC2502

PIC2503

POAOCS0A0EN AOCS_A_EN POICP0SENSE ICP_SENSE POSPI0D0MOSI SPI_D_MOSI

NLSWO SWO

162 PIU90162 163 PIU90163 164 PIU90164 165 PIU90165

PIU9015 VDD

COC25 C25 PIC2501

4 6 PIJP206 8 PIJP208 10 PIJP2010 12 PIJP2012 14 PIJP2014 16 PIJP2016 18 PIJP2018 20 PIJP2020 PIJP204

COD7 D7

COS2 S2 MCU_DBG

39

PIL102

PIU906

*H L0603

2 PIJP202

SWD

270R R0603

*

PIL101

VCC SWD i

COMCU0LED MCU_LED COR23 R23 PIMCU0LED02

*

D

GND

*

JLINK/SWD

VCC

VCC

ADDITIONAL DEBUGGING PERIPHERALS

COR22 R22

PE0 PE1 PE2 PE3 PE4 PE5 PE6 PE7

69 PIU9069 PE8 NLFMC0D6 FMC_D6 70 PIU9070 PE9 NLFMC0D7 FMC_D7 73 PIU9073 PE10 NLFMC0D8 FMC_D8 74 PIU9074 PE11 NLFMC0D9 FMC_D9 75 PIU9075 PE12 NLFMC0D10 FMC_D10 76 PIU9076 PE13 NLFMC0D11 FMC_D11 77 PIU9077 PE14 NLFMC0D12 FMC_D12 78 PIU9078 PE15

U9C 6

POVCC VCC

161 PIU90161

FMC_A[0..19]

NLFMC0D 150

COR92 R92 PID201 PID202 PIR9201

58 PIU9058

PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7

NLFMC0D5 FMC_D5

GND

56 PIU9056

57 PIU9057

117 PIU90117 PC8 PD8 118 PIU90118 PC9 PD9 139 PIU90139 PC10 PD10 140 PIU90140 PC11 PD11 141 PIU90141 PC12 PD12 8 PIU908 PC13 PD13 9 PIU909 PC14-OSC32_IN(PC14)PD14 10 PIU9010 PC15-OSC32_OUT(PC15) PD15

POCAN0EN CAN_EN POSLT0MODE SLT_MODE POSPI0D0CLK SPI_D_CLK POQSPI0C\S\2\ QSPI_CS2 POSTAR0TRACKER0TX STAR_TRACKER_TX POSYS0MAIN0ACCESS SYS_MAIN_ACCESS POTEMPERATURE0EN TEMPERATURE_EN

B C A

PIS105 PIS102

NLNRST0BUTTON NRST_BUTTON

VCC

81 PIU9081 125 PIU90125

270R R0603

PIFB101

R0805

0R R0603 VCAP_1 VCAP_2

PIR1701

10k R0603

COR19 R19

171 PIU90171

PDR_ON

3 2 1

COR17 R17 PIR1702

GND

PIU9031

COD2 D2 MCU_LED2

PIR1801

0R

31

NRST

2320019 SLIDE SWITCH COS1 S1

BOOT PIR1802

PODBG0TXD DBG_TXD PODBG0RXD DBG_RXD

VCC

100nF C0603

COR18 R18

48 PIU9048

COR91 R91 *

COC19 C19 PIC1902 PIC1901

PIU90166

BYPASS_REG

PIR9102

POQSPI0SENSE QSPI_SENSE POFRAM10C\S\ FRAM1_CS POAOCS0A0SENSE AOCS_A_SENSE POAOCS10SYNC AOCS1_SYNC GND

119 PIU90119 PA8 120 PIU90120 PA9 121 PIU90121 PA10 122 PIU90122 PA11 123 PIU90123 PA12 124 PIU90124 PA13(JTMS-SWDIO) 137 PIU90137 PA14(JTCK-SWCLK) 138 PIU90138 PA15(JTDI)

32 PIU9032 PC0 33 PIU9033 PC1 34 PIU9034 PC2 35 PIU9035 PC3 54 PIU9054 PC4 NLMCU0DBG MCU_DBG 55 PIU9055 PC5 115 PIU90115 PC6 116 PIU90116 PC7

POAOCS0B0SENSE AOCS_B_SENSE

166

BOOT0

STM32F767IIT6

PID102 PIR9101

POI2C0SDA I2C_SDA POAOCS10X2 AOCS1_X2 POAOCS10X1 AOCS1_X1 POSYS0BACKUP0SHUTUP SYS_BACKUP_SHUTUP POSYS0BACKUP0EN SYS_BACKUP_EN POBACKUP0TXD BACKUP_TXD POBACKUP0RXD BACKUP_RXD POSP0ST0EN SP_ST_EN

86 PIU9086

COD1 D1 PID101

POQSPI20IO0 QSPI2_IO0 POQSPI20IO1 QSPI2_IO1 POAOCS10SCL AOCS1_SCL POAOCS10SDA AOCS1_SDA POAOCS10X3 AOCS1_X3 POI2C0SCL I2C_SCL

44 PIU9044 PIU9045

PH8 PH9 PH10 PH11 PH12 PH13 PH14 PH15

POTO0HSCOM0INT TO_HSCOM_INT POPAYLOAD0TXD PAYLOAD_TXD POPAYLOAD0RXD PAYLOAD_RXD POOPTICAL0INT0OUT OPTICAL_INT_OUT POPAYLOAD0DE PAYLOAD_DE NLSWDIO SWDIO NLSWCLK SWCLK POBACKUP0DE BACKUP_DE

OSC_IN OSC_OUT

8

FMC_A[0..19]

131 PIU90131 POS\I\D\E\0\P\A\N\E\L\0\I\N\T\ SIDE_PANEL_INT 132 PIU90132 POOPTICAL0INT0IN OPTICAL_INT_IN 133 PIU90133 POTETHER0INT0OUT TETHER_INT_OUT 134 PIU90134 POPAYLOAD0INT0EN PAYLOAD_INT_EN 173 PIU90173 POAOCS0B0EN AOCS_B_EN 174 PIU90174 POQSPI0EN QSPI_EN 175 PIU90175 POAOCS20SYNC AOCS2_SYNC NLMCU0LED2 MCU_LED2 176 PIU90176 7 PIU907 POSYS0BACKUP0ACCESS SYS_BACKUP_ACCESS MCU_LED 11 PIU9011 12 PIU9012 POIO0EXP0I\N\T\A\ IO_EXP_INTA 13 PIU9013

PG8 PG9 PG10 PG11 PG12 PG13 PG14 PG15

29 PIU9029

FMC_D[0..15]

112 PIU90112 152 PIU90152 153 PIU90153 154 PIU90154 155 PIU90155 156 PIU90156 157 PIU90157 160 PIU90160

POFROM0HSCOM0INT FROM_HSCOM_INT POQSPI20IO2 QSPI2_IO2 POAOCS20X2 AOCS2_X2 POAOCS20X1 AOCS2_X1 POSPI0B0MISO SPI_B_MISO POSPI0B0CLK SPI_B_CLK POQSPI20IO3 QSPI2_IO3 POAOCS20GYR10INT AOCS2_GYR1_INT

B

COU9A COU9B COU9C U9A 40 PIU9040 PA0-WKUP(PA0) PB0 41 PIU9041 PA1 PB1 42 PIU9042 PA2 PB2 47 PIU9047 PA3PB3(JTDO/TRACESWO) 50 PIU9050 PA4 PB4(NJTRST) 51 PIU9051 PA5 PB5 52 PIU9052 PA6 PB6 53 PIU9053 PA7 PB7

PORTC0CS RTC_CS POMAIN0DE MAIN_DE POMAIN0TXD MAIN_TXD POMAIN0RXD MAIN_RXD POAOCS10GYR10INT AOCS1_GYR1_INT POAOCS10MAG0RDY AOCS1_MAG_RDY POMRAM0SENSE MRAM_SENSE POPAYLOAD0SENSE PAYLOAD_SENSE

A

7

PIC2901

GND

PIR8002

270R R0603

COC29 C29 100nF C0603

PIC30 2 PIC30 1

COC30 C30 100nF C0603

PIC3102 PIC3101

COC31 C31 100nF C0603

PIC3202 PIC3201

COC32 C32 100nF C0603

PIC3 02 PIC3 01

COC33 C33 100nF C0603

PIC3402 PIC3401

COC34 C34 100nF C0603

PIC3502 PIC3501

COC35 C35 100nF C0603

PIC3602 PIC3601

COC36 C36 100nF C0603

D

STM32FxxxIx_CL.SchDoc GND

VCC

PIC3802 GND

PIS302

3

PIC3801

PIC3902 COC38 C38 100nF C0603

4

PIC3901

PIC4102

PIC40 2 COC39 C39 100nF C0603

PIC40 1

COC40 C40 100nF C0603

PIC4101

PIC4202 COC41 C41 100nF C0603

PIC4201

PIC4302 COC42 C42 100nF C0603

5

PIC4301

PIC4 02 COC43 C43 100nF C0603

PIC4 01

PIC4502 COC44 C44 100nF C0603

PIC4501

COC45 C45 100nF C0603

GND 6

Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a 7

Figure 4.10: Microcontroller’s connections and support peripherals schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B

Sheet: 9 8

of 25

1

2

3

4

A

A

IO_VCC IO_VCC

PIR4202

COU15 U15 5

POIO0VCC IO_VCC

PIC6402 B

PIC6401

PIC6402

COC64 C64 100nF C0603

PIC6402 1

COC6402 C64_2 100nF C0603

14

PIU15014

NLGPB0 GPB0 25

PIU15025

NLGPB1 GPB1 26 NLGPB2 GPB2 27 NLGPB3 GPB3 28 GND

NLGPB4 GPB4 1

GND

NLGPB5 GPB5 2 NLGPB6 GPB6 3 NLGPB7 GPB7 4

49

NLGPB000070 GPB[0..7] POGPB0 POGPB000070 POGPB7 POGPB6 POGPB5 POGPB4 POGPB3 POGPB2 POGPB1 GPB[0..7] i GPB

PIU1505

13 12 11 29 6

PIU15026 PIU15027 PIU15028

PIU1501 PIU1502 PIU1503 PIU1504

PIU15013 PIU15012 PIU15011 PIU15029

PIU1506

SDO SDI RESET SCK CS

PIU15010

POSDO SDO

COR42 R42

PIU1509

POSDI SDI

PIR4201 R0603

GPB0 GPB1 GPB2 GPB3 GPB4 GPB5 GPB6 GPB7

PIU15017

VDD

A2 A1 A0 PAD VSS

GPA0 GPA1 GPA2 GPA3 GPA4 GPA5 GPA6 GPA7 INTA INTB

10 9 8 PIU1508 7 PIU1507 17 18 PIU15018 19 PIU15019 20 PIU15020 PIU1502121 22 PIU15022 23 PIU15023 24 PIU15024

100k

POCLK CLK

POC\S\ CS

B

NLGPA0 GPA0 NLGPA1 GPA1 NLGPA2 GPA2 NLGPA3 GPA3

IO_VCC

IO_VCC

NLGPA4 GPA4 NLGPA5 GPA5 NLGPA6 GPA6 NLGPA7 GPA7 NLGPA000070 GPA[0..7]

PIR4 02

PIR4302

GPA i

POGPA000070 POGPA7 POGPA6 POGPA5 POGPA4 POGPA3 POGPA2 POGPA1 POGPA0 GPA[0..7]

16 15 PIU15015

COR43 R43 100k

PIR4301 R0603

COR44 R44 100k

PIR4 01 R0603

POI\N\T\A\ INTA

PIU15016

POI\N\T\B\ INTB

MCP23S17T-E/ML GND

C

C

IO_Expander_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.11: I/O expander schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 10

of 25

1

2

3

4

A

A

B

COU5 U5 4 PIU504 VIN VOUT 3 PIU503 EN VSEN

POVCC VCC

PIC702 PIC701

COC7 C7 1uF C0603

GND SENSE GND

B 6 5

POVref POVREF Vref

PIU506 PIU505

2

PIU502

1 PIU501

PIC802 PIC801

COC8 C8 100nF C0603

ADR3430ARJZ-R7 GND

GND

GND

50 C

C

3V_Reference_AO_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.12: 3 V reference schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 11

of 25

1

2

3

4

A

A

MRAM_SENSE currentSense_CL.SchDoc

POVCC VCC POMRAM0SENSE MRAM_SENSE

VCC_IN VCC_OUT VCC SENSE

MRAM_VCC

FMC_A[0..19]

FMC_D[0..15]

POFMC0NWE FMC_NWE

11 PIU7011 12 PIU7012 13 PIU7013 14 PIU7014 NLFMC0D4 FMC_D4 15 PIU7015 NLFMC0D5 FMC_D5 16 PIU7016 NLFMC0D6 FMC_D6 17 PIU7017 NLFMC0D7 FMC_D7 18 PIU7018 NLFMC0NWE FMC_NWE 19 PIU7019 NLFMC0A5 FMC_A5 20 PIU7020 NLFMC0A6 FMC_A6 21 PIU7021 NLFMC0A7 FMC_A7 22 PIU7022 NLFMC0A8 FMC_A8 23 PIU7023 NLFMC0A9 FMC_A9 24 PIU7024 25 PIU7025 26 PIU7026 27 PIU7027

NLFMC0D2 FMC_D2

PIU7010

NLFMC0D3 FMC_D3

COC13 C13 10uF C1210

GND

PIC1402 PIC1401 GND

COC14 C14 100nF C0603

GND

NLFMC0D 150

i MRAM CTRL

FMC_A[0..19]

51

PIC1302 PIC1301

FMC_D[0..15]

MRAM_VCC

C

A2 A3 A4 E DQ0 DQ1 DQ2 DQ3 VDD VSS DQ4 DQ5 DQ6 DQ7 W A5 A6 A7 A8 A9 NC NC NC

PIU7051

MRAM CTRL i

NLFMC0NOE FMC_NOE NLFMC0NBL1 FMC_NBL1 NLFMC0NBL0 FMC_NBL0

POFMC0NOE FMC_NOE

POFMC0NBL1 FMC_NBL1 POFMC0NBL0 FMC_NBL0

B

GND MRAM_VCC FMC_D[0..15]

NLFMC0A3 FMC_A3 PIU706 6 NLFMC0A4 FMC_A4 PIU707 7 NLFMC0NE FMC_NE 8 PIU708 NLFMC0D0 FMC_D0 PIU709 9 NLFMC0D1 FMC_D1 10

MRAM CTRL i

53 NLFMC0A18 FMC_A18 52 NLFMC0A17 FMC_A17 51 NLFMC0A16 FMC_A16 NLFMC0A15 50 PIU7050FMC_A15 49 PIU7049 48 PIU7048 47 PIU7047 46 NLFMC0D15 FMC_D15 PIU7046 45 NLFMC0D14 FMC_D14 PIU7045 44 NLFMC0D13 FMC_D13 PIU7044 NLFMC0D12 43 FMC_D12 PIU7043 42 PIU7042 41 PIU7041 40 NLFMC0D11 FMC_D11 PIU7040 39 NLFMC0D10 FMC_D10 PIU7039 38 NLFMC0D9 FMC_D9 PIU7038 37 NLFMC0D8 FMC_D8 PIU7037 36 PIU7036 NLFMC0A14 35 PIU7035FMC_A14 NLFMC0A13 34 FMC_A13 PIU7034 33 NLFMC0A12 FMC_A12 PIU7033 32 NLFMC0A11 FMC_A11 PIU7032 31 NLFMC0A10 FMC_A10 PIU7031 30 PIU7030 29 PIU7029 28 PIU7028 PIU7052

FMC_A[0..19]

POFMC0NE FMC_NE

54 PIU7054

PIU7053

FMC_D[0..15]

B

A1 NLFMC0A2 FMC_A2 PIU705 5

NC A18 A17 A16 A15 G UB LB DQ15 DQ14 DQ13 DQ12 VSS VDD DQ11 DQ10 DQ9 DQ8 DC A14 A13 A12 A11 A10 NC NC NC

FMC_A[0..19]

COU7 U7 1

PIU701 NC NLFMC0A19 FMC_A19PIU702 2 A19 NLFMC0A0 FMC_A0 PIU703 3 A0 NLFMC0A1 FMC_A1 PIU704 4

PIC1502 PIC1501 GND

COC15 C15 100nF C0603

PIC1602 PIC1601

COC16 C16 10uF C1210

GND

C

MR4A16BCYS35

POFMC0D0000150 POFMC0D15 POFMC0D14 POFMC0D13 POFMC0D12 POFMC0D11 POFMC0D10 POFMC0D9 POFMC0D8 POFMC0D7 POFMC0D6 POFMC0D5 POFMC0D4 POFMC0D3 POFMC0D2 POFMC0D1 POFMC0D0 FMC_D[0..15]

FMC_D[0..15]

POFMC0A0000190 POFMC0A19 POFMC0A18 POFMC0A17 POFMC0A16 POFMC0A15 POFMC0A14 POFMC0A13 POFMC0A12 POFMC0A11 POFMC0A10 POFMC0A9 POFMC0A8 POFMC0A7 POFMC0A6 POFMC0A5 POFMC0A4 POFMC0A3 POFMC0A2 POFMC0A1 POFMC0A0 FMC_A[0..19]

NLFMC0A0000190 FMC_A[0..19]

i

FMC_D

i

FMC_A

MRAM_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.13: Magnetoresistive random-access memory schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 12

of 25

1

2

3

4

A

A

B

B

COU16 U16 8

POVDD VDD

PIC6802 PIC6801

PIU1608

COC68 C68 100nF C0603 9

52

GND

PIU1609

VDD

SCK SI/IO0 SO/IO1 WP/IO2 RESET/IO3 CS

PAD

GND

6 5 PIU1605 2 PIU1602 3 PIU1603 7 PIU1607 1 PIU1601 PIU1606

POCLK CLK POIO0 IO0

PIR50 2

POIO1 IO1 POIO2 IO2 POIO3 IO3

PIR50 1 R0603

COR50 R50 100k

POC\S\ CS

4 PIU1604

MT25QL512ABB1EW9-0SIT GND

GND

C

C

QSPI_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.14: QSPI NOR flash schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 13

of 25

1

2

3

4

A

A

B

B

POVCC VCC COU1 U1 8 7 3

PIU108

PIU107 PIU103

VDD HOLD WP

PIU106

CS

PIU101

53

VSS

PIC102 PIC101

6 POCLK CLK POSDI SDI 2 POSDO SDO

CLK SDI SDO

PIU1055 PIU102

1

PIR102 COR1 R1 100k

PIR101 R0603 POC\S\ CS

PIU1044

CY15B104Q-LHXI

COC1 C1 100nF C0603

GND

GND

C

C

NOTE 1: IN DFN PACKAGE EXPOSED PAD FLOATING

FRAM_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.15: FRAM schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 14

of 25

1

2

3

4

A

IF USED AS INTERRUPT

A

VCC

VCC

COU17 U17 2 PIU1702

POVCC VCC

PIC6902 PIC6901

B

PIC70 2 PIC70 1

COC69 C69 100nF C0603

PIR5202

COC70 C70 10nF C0603 RTC_INT CLKOE

7 PIU1707 INT 1 PIU1701 CLKOE 9 PIU1709 Vbat 6 PIU1706 VSS

GND

PIR5402

54

100k PIR5401 R0603

100k

3

PIU1703

NLCLKOE CLKOE

POCLKOUT CLKOUT POCLKOE CLKOE B

100k

PIR5201 R0603

COR54 R54

CLKOUT

COR51 R51

PIR5101 R0603

COR52 R52

NLVBAT VBAT GND

VDD

PIR5102

SCLK SDO SDI CS

4 5 10 PIU17010 8 PIU1708 PIU1704

POSCLK SCLK

PIU1705

POSDO SDO POSDI SDI

RV-3049-C3-TB-QA-OPT.A OPTION 2

PIR5 02

POCS CS

PIR5302 COR53 R53

NLR\T\C\0\I\N\T\ RTC_INT

100k

POI\N\T\ INT

PIR5301 R0603

GND

COR55 R55 0R

PIR5 01 R0603

GND

GND GND

OPTION 1

C

C VCC

COJP17 JP17 3 2

PIJP1703 PIJP1702

VBAT

1 PIJP1701 PIN_1x3 GND

CONNECTOR FOR BACKUP POWER CIRCUIT

RTC_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.16: Real time clock schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 15

of 25

1

2

3

4

A

A

B

B

PIR4102 COR41 R41 100k

PIR4101 R0603

POSDA SDA POSCL SCL

POALERT ALERT

55

COU14 U14 1 PIU1401 SDA VDD 2 PIU1402 SCL A0 3 PIU1403 ALERT A1 9 PIU1409 PAD A2 4 PIU1404 GND

8 PIU1408 7 6 5

PIU1407

POVCC VCC POA0 A0

PIU1406

POA1 A1

PIU1405

POA2 A2

PIC6302 PIC6301

COC63 C63 100nF C0603

MCP9808T-E/MC GND

GND

ADDRESS: 0011 (A2) (A1) (A0) C

C

TemperatureSensor_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.17: Temperature sensor schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 16

of 25

1

2

3

4

A

A

B

B

COC17 C17 PIC1702

POVCC0IN VCC_IN

PIC1701

GND

1uF C0603

PIR1501 COR15 R15

COU8 U8 5 PIU805 VinVout 4 PIU804 ON 3 PIU803 OCGND

100k

PIR1502 R0603 POEN EN

56

POF\L\T\ FLT

PIR1601

1 PIU801

POVCC0OUT VCC_OUT

PIC1802 PIC1801

2

PIU802

TPS22943DCKR

COR16 R16

COC18 C18 100nF C0603

100k PIR1602 R0603 GND C

GND

GND

C

powerSwitch_40-100mA_AH_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.18: 40 mA current limit power switch schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 17

of 25

1

2

3

4

A

A

COC3 C3

POVCC0IN VCC_IN B

PIC302 PIC301

GND

100nF C0603

PIR601

B

COR6 R6

PIR602

COU3 U3

100k R0603

1 PIU301 IN OUT 4 PIU304 FAULTILIM 3 PIU303 EN GND

POF\A\U\L\T\ FAULT POEN EN

PIR702

COR7 R7

57

100k PIR701 R0603

GND

PIC502 COC5 C5 PIC501 100nF C0603

6 5

POVCC0OUT VCC_OUT

PIU306 PIU305

2 PIU302

POILIM ILIM

PIC402 PIC401

TPS2553DBVR-1

COC4 C4 100nF C0603

GND GND

GND

C

C

powerSwitch_1_5A_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.19: Adjustable current limit power switch schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 18

of 25

1

2

3

4

A

A

GND

PIC1 01 PIC1 02

COC11 C11 100nF C0603

COU6 U6 2 PIU602 V+

5

VOUT

SENSE POVCC VCC SENSE

PIU605

B

PIR1 01 COR11 R11

3 PIU603 NC 6 PIU606 NC 7 PIU607 NC 4 PIU604 GNDIN+

B

COC12 C12 100nF C0603

IN-

PIU608

8 GND

PIR1 02

10k 0.1% R0603

PIC1202 PIC1201

PIU601

1

GND

LT6105

58

PIR1201

PIR1301 COR12 R12

COR13 R13

100R 0.1%

100R 0.1%

PIR1202 R0603

PIR1302 R0603

COR14 R14 POVCC0IN VCC_IN

C

PIR1401

PIR1402

POVCC0OUT VCC_OUT

C

0Rxx R0805

currentSense_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.20: Current sense amplifier schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 19

of 25

1

2

3

4

A

A

COC71 C71 PIC7102

B

PIC7101

GND

COR56 R56

PIR5602

COU18 U18 POVCC VCC

NLPL0PWR PL_PWR POCAN0TXD CAN_TXD POCAN0RXD CAN_RXD

POSLT0MODE SLT_MODE POCAN0FLT CAN_FLT

3 1 4 8 5

NLCAN0TXD CAN_TXD NLCAN0RXD CAN_RXD NLSLT0MODE SLT_MODE NLCAN0FLT CAN_FLT

59

COR58 R58 PIR5802

PIR5801

100k R0603

PIU1803

PIU1801 PIU1804 PIU1808 PIU1805

VCC CANH TXD CANL RXD S FAULT GND

B

PIR5601

100nF C0603

60R R0603

7

PIU1807

6 PIU1806

COR57 R57 2

PIU1802

COC72 C72 PIC7202

PIR5701

PIC7201

GND

100nF C0603

POCANH CANH POCANL CANL

60R

PIR5702 R0603

TCAN337GDCNT GND

C

C

CAN_bus_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.21: CAN bus driver schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 20

of 25

1

2

3

4

A

A

COC2 C2 PIC202

B

GND

PIC201

B

100nF C0603

COU2 U2 8

PORS4850VCC RS485_VCC POT T PODE DE

POR R

COR3 R3 GND

PIR302

PIR301

60

100k R0603

4 3 1 2 5

PIU208

VCC

PIU204

TX TX_EN

PIU203

A

PIU202

PIU205 PIU209

POA A

PIR202125mW COR2 R2 120R

B PIU201

6

PIU206

7 PIU207

PIR201 R0603

RX RX_EN

POB B

GND GND_PAD

LTC2850IMS8 GND C

C

RS485_HD_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.22: Half duplex RS485 driver schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 21

of 25

1

2

3

4

A

A

COJP1 JP1 29 PIJP1029 27 PIJP1027 25 PIJP1025 23 PIJP1023 21 PIJP1021 19 PIJP1019 17 PIJP1017 15 PIJP1015 13 PIJP1013 11 PIJP1011 9 PIJP109 7 PIJP107 5 PIJP105 3 PIJP103 1 PIJP101

POMAG0INT MAG_INT POGYR10INT GYR1_INT POA\D\C\0\E\R\R\ ADC_ERR POSYNC SYNC POSCL SCL

B

POSDA SDA POMOSI MOSI POCLK CLK POMISO MISO POA\D\C\0\C\S\ ADC_CS

POM\A\G\0\C\S\ MAG_CS

61

POG\Y\R\2\0\C\S\ GYR2_CS POG\Y\R\1\0\C\S\ GYR1_CS

30 28 26 24 PIJP1024 22 PIJP1022 20 PIJP1020 18 PIJP1018 16 PIJP1016 14 PIJP1014 12 PIJP1012 10 PIJP1010 8 PIJP108 6 PIJP106 4 PIJP104 2 PIJP102

POVCC0CON VCC_CON

PIJP1030 PIJP1028

POGYR20INT GYR2_INT

PIJP1026

POOUT1 OUT1 GND

PIC902 PIC901

COC9 C9

B

10uF C1210

GND

GND

POOUT2 OUT2 POMAG0RDY MAG_RDY

PIC10 2 PIC10 1

AOCS

COC10 C10 10uF C1210

GND

C

C

AOCS_Connector_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.23: On-board computer system’s AOCS connector schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 22

of 25

1

2

3

4

A

A

B

POVCC0DEC VCC_DEC

POX1 X1 POX2 X2 POX3 X3

PIC602 PIC601

PIR802

COC6 C6

PIR10 2

PIR902 COR8 R8

62

100nF C0603

100k

PIR801 R0603

COR9 R9 100k

PIR901 R0603

COR10 R10 100k

PIR10 1 R0603

COU4 U4 16 PIU4016 VCC 6 PIU406 G1Y0 Y1 1 PIU401 A Y2 2 PIU402 B Y3 3 PIU403 C Y4 Y5 4 PIU404 G2A Y6 5 PIU405 G2B Y7 8 PIU408 GND

B 15 14 13 PIU4013 12 PIU4012 11 PIU4011 10 PIU4010 9 PIU409 7 PIU407 PIU4015 PIU4014

POY1 Y1 POY2 Y2 POY3 Y3 POY4 Y4 POY5 Y5

POY6 Y6 POY7 Y7

SN74HC138PW GND

GND

GND

GND

GND

C

C

3-to-8_Decoder_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.24: 3-to-8 decoder schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 23

of 25

1

2

3

4

A

A

PIR8202 B

PIR8302 COR82 R82

COR83 R83

100k

100k

B

PIR8201 R0603 PIR8301 R0603

POVCC VCC

COU19 U19 VCC

PO1B 1B

PO2B 2B

3

PIU1903

1B

PIU1906

2B

4

PIU1904

GND

63

6

1A 1OE 2A 2OE

SN74CB3Q3306A

8

PIU1908

2 PIU1902

1 5 PIU1905 7 PIU1907

PIR8102 PO1A 1A

PIU1901

PO2A 2A

PIC7602 PIC7601

COR81 R81 100k PIR8101 R0603

POE\N\ EN

COC76 C76 100nF C0603

GND

GND

C

C

BusSwitch2_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.25: 2-channel bus switch schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 24

of 25

1

2

3

4

A

A

POVCC VCC

PIC7 01 PIC7 02

PIR8402

COC77 C77

COR84 R84

100nF C0603

100k

PIR8401 R0603 2342533 COU20 U20

B GND

20

NLA0 A0 2 NLA1 A1 3

NLA2 A2 4 NLA3 A3 NLA4 A4 NLA5 A5 NLA6 A6

64

NLA7 A7 NLA000070 A[0..7] POA000070 POA7 POA6 POA5 POA4 POA3 POA2 POA1 POA0 A[0..7]

5 6 7 8 9 1

19 PIU20019

PIU20020

VCC

OE

PIU2002

A1 A2 A3 A4 A5 A6 A7 A8

B1 B2 B3 B4 B5 B6 B7 B8

PIU20018

NC

GND

PIU20010

PIU2003

PIU2004 PIU2005 PIU2006 PIU2007

PIU2008 PIU2009 PIU2001

18 17

PIU20017

PIU2001616

15 PIU20015 14 PIU20014 13 PIU20013 PIU2001212 PIU2001111

POO\E\ OE

PIR8502

PIR8702

PIR8602

PIR8 02

PIR8902

PIR90 2

COR85 R85

COR86 R86

COR87 R87

COR88 R88

COR89 R89

COR90 R90

100k

100k

100k

100k

100k

100k

B

PIR8501 R0603 PIR8601 R0603 PIR8701 R0603 PIR8 01 R0603 PIR8901 R0603 PIR90 1 R0603

NLB0 B0 NLB1 B1

NLB2 B2 NLB3 B3 NLB4 B4 NLB5 B5 NLB6 B6

NLB7 B7 NLB000070 B[0..7]

10

POB000070 POB7 POB6 POB5 POB4 POB3 POB2 POB1 POB0 B[0..7]

SN74CB3Q3245PW GND C

C

BusSwitch8_CL.SchDoc Project: EC2_OBCS_v1.PrjPcb Subsystem: Onboard computer system Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.26: 8-channel bus switch schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: B 4

D

Sheet: 25

of 25

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

65

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.27: On-board computer system’s printed circuit board layer 1 - component and signal plane.

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

66

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.28: On-board computer system’s printed circuit board layer 2 - ground plane.

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

67

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.29: Onboard computer system’s printed circuit board layer 3 - signal plane.

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

68

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.30: On-board computer system’s printed circuit board layer 4 - signal plane.

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

69

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.31: On-board computer system’s printed circuit board layer 5 - power plane.

COJP2

PAS301

PAJP401 PAJP402 PAJP403 PAJP404 COJP18 PAC5301

PAJP301 PAJP302 PAJP303 PAJP304

COC54PAC5401 PAC5402

COR31PAR3101PAR3102 COC50

COR29

PAC5302

PAJP1801 PAJP1802 PAJP1803 PAJP1804

COC48

PAU1101 PAU1102 PAU1103

PAU1104

PAR2902 PAR3002 PAR2901 PAR3001

PAS201

PAS302

PAS202

COS3

COC53

COS2

PAC4702

COC5

PAC5502

PAU1105

PAC5501

COJP5

PAJP505 PAJP506

PAJP507 PAJP508

PATP510 COR1 FCOC12F

PAC6702

PAC4603

PAC6703

PAC4602

PAC6701

COC51

COC49

PAU6F04 PAU6F03 PAU6F02 PAU6F01

COJP7

PAJP701 PAJP702 PAJP703 PAJP704

PAJP709 PAJP7010 PAJP7011 PAJP7012

PAJP7013 PAJP7014

PAR13F02

PAC4C01 PAC4C02

COR13F

PAR14F02

COC1 F COR2C COR14F COC2C

COR82A

PAU2C05

COU13 PAC6201 PAU1308PAU1307PAU1306PAU1305 PAU1304 PAU130 PAU1302PAU1301 PAC6202 COC60 PAC6001 PAC6002 PAR40 1 PAR4002

COR40

PATP4800 COTP47

PAR3801 PAR3802

PAU2C02

PAU2C01 COR3C PAR83A02 PAR83A01 COR83APAR3B02 PAR2B02 PAC2B01 PAR3B01 PAR2B01 PAU2B08 PAU2B01 PAC2B02

COR82D COR83D PAR82D02 PAR82D01

COR39 PAR3902

PAC5602

PAU19A05 PAU19A06 PAU19A07

PAU19A04

PAU19A08

PAU19A01

PAU19D04

PAC76B02 PAR81B02

PAU19B01 PAU19B02 PAU19B03 PAU19B04

PAC76B01 PAR81B01

PAU9089

COC39 PAC3902 PAC3901

PAC3802

PAU9091 PAU9092 PAU9093

COU6D PAU6D05 PAU6D06 PAU6D07

PAC3801

PAU9094

PAU9095 PAU9096 PAU9097 PAU9098 PAU9099 PAU90100 PAU90101 PAU90102 PAU90103 PAU90104 PAU90105 PAU90106

PAU6D04 PAU6D03 PAU6D02

PAU6D01

COC40PAC4002 PAC4001

PAR13D01

PAR14D02PAR13D02

70

COR12D COR14D COR13D

PATP5600

COC36

PAU9090

COC1 D

COJP10

PAC2101

COC15

PAU90107

PAU90108 PAU90109 PAU90110 PAU90111 PAU90112 PAU90113 PAU90114 PAU90115

PAC1501 PAC1502

COC41 PAC4102 PAC4101 PAU90121 PAU90122 PAU90123

PAU90124

COC16

PAJP1007 PAJP1008

PAJP1009 PAJP10 10

COU3A

PAU3A04

PAR5902 COR59PAU3A05 PAU3A06

PAU90129 PAU90130 PAU90131 PAU90132

PAU3A01

PAC5A02PAR7A02 PAC3A01 PAC5A01PAR7A01 PAC3A02

PATP3300

COR2ACOU2A PAR2A02

PAJP903 PAJP904

PAR2A01

PAR3A02

PAU2A05 PAU2A06 PAU2A07 PAU2A08

PAU2A04 PAU2A03 PAU2A02 PAU2A01

PATP3100 COR90 COR89

COTP2

PAR3A01 PAR41A02 PAR41A01 PAC63A01

COC63A COR3A

PAU14A05

PAU14A06 PAU14A07

PAU14A04

PAU14A09

PAU14A08

PAU14A03 PAU14A02 PAU14A01

COR88 PAR9002 PAR9001 PAR8902 PAR8901 PAR8802 PAR8801

PAR8702 PAR8701 PAR8602 PAR8601 PAR8502 PAR8501

COR87 COR86

COU14A COR85

COC2A

PAJP909 PAJP9010

PAR5801 PAR5802 COU18 PAR5702 PAR5701COR57 COR58 PAC7102 PAC7201 PAC7202COC72 PAC7101 PAR5601 PAR5602COR56

PAJP9011 PAJP9012

PATP3600

PAJP907 PAJP908

PAC3501

PAC3402

PAU7027 PAU7026

PAU7028 PAU7029

PAU7025

PAU7030

PAU7024

PAU7031

PAU7023

PAU7032

PAU7022 PAU7021

PAU7033 PAU7034

PAU7020

PAU7035

PAU7019

PAU7036

PAU7018

PAU7037

COU7 COU9

PAU7017 PAU7016

PAU7015 PAU7014 PAU7013 PAU7012

PAU1805 PAU1806 PAU1807 PAU1808

PAR13A02

PAU7040 PAU7041 PAU7042 PAU7043

PAC2501 PAC702

COC25

PAC3401 PAC2601PAC2701 PAC2502 PAC2602PAC2702 PAL102 PAL101 PAC802 PAU9043

PAU1804 PAU1803 PAU1802 PAU1801

COC71COTP54

PAU9042 PAU9041 PAU9040

COC7

PAU7045 PAU7046 PAU7047 PAU7048

PAU9038 PAU9037 PAU9036 PAU9035 PAU9034 PAU9033 PAU9032 PAU9031 PAU9030 PAU9029 PAU9028 PAU9027

COC13

PAU706

PAU7049

PAU705

PAU7050

COFB1

PAJP1106 PAJP1105

PAR5102 PAC6902 PAC6901 PAR5101 PAC7002 PAC7001 COC70

PAJP1104 COJP11 PAJP1103

PAU501

PAFB102 COR24 PAC2201 PAR2001

PAU1706 PAU1707 PAU1708 PAU1709PAU17010

COU17

PAJP1701

COTP10 PAC2202 COTP9 PAR2002 PAR1C01

COR1C PAR1C02

PAU9016 PAU9015 PAU9014

PAC3001 PAC3002 COC30 PAU905

PAU904 PAU903 PAU902 PAU901

PAC2902

PAC4402

PAC4502

PAU1C01 PAU1C02 PAU1C03

PAC1C01 PAC1C02

PAU1C09 PATP1 0

PASTM0PWR0LED02

PAU1C06

PAR2202

PAU1C05

PAR2201

PAU1C08

PAR82C01

PATP2300

PATP2600

PAR83C01 PAR83C02

PAU20011 PAU20012 PAU20013 PAU20014 PAU20015

PAU20010 PAU2009 PAU2008 PAU2007 PAU2006

PAU20016 PAU20017 PAU20018 PAU20019 PAU20020

PAU2005 PAU2004 PAU2003 PAU2002 PAU2001

PAU1C04

PAR9101 COU1C COTP16 PAR9102 COR91 COR42 PAU16A05 PATP1600 COTP19COD1 COTP12

PATP3500 COTP33

PATP2000

PAR4201

506 PAU150 PAU1504 PAU1503 PAU1502 PAU1501 PAU1507 PAU1PAC640202

PAU1508 PAU1509

PAU15010

PAU15011 PAU15012 PAU15013 PAU15014

PAU14C05 PAU14C06 PAU14C07 PAU14C08

PAD202 PAD201

PAU14C01

PAC640201

COD7

PAR8002 PAR8001

PAD701 PAD702

COR80

COMU0LED

PAR4402

PAMCU0LED02

PAU15025 PAU15024 PAU15023 PAU15022

PAR4301

COR16C

PAR4302

PAR2301 PAR2302

COR14E

PAR12E01 PAR12E02PAR14E01 COR12E

PAC4B02 PAC4B01

COR49

COR17

PAR7B01

PAC5B01

PAR7B02

PAC5B02

PAU3B01 PAU3B02 PAU3B03

PAU3B06 PAU3B05 PAU3B04

COR7B COC5B COU3B

PATP3700 PATP2900 PATP3000

PAR4902 PAR4901

COU4B

PAR6B02

PAR8B01 PAR9B01 PAR10B01

PAR6B01

PAR8B02 PAR9B02 PAR10B02

COR6B COR8B CCOOCR69BB COR10B PAC6B02

COR11B PAR11B01 PAR11B02 COC12BPAC12B02 PAC12B01 COU6B

PAS103 PAS102 PAS101 COS1

PAS104 PAS105 PAS106

COR16B COC17B

COR15B PAR16B02 PAR15B01 PAR15B02 PAR16B01

PAU8B04 PAU8B05

PAU8B03 PAU8B02 PAU8B01

PAC17B01

COU8B

PAU6B04 PAU6B03 PAU6B02 PAU6B01

PAR12B01 PAC18B02 PAR12B02

PAC17B02

PAJP802 PAJP804 PAJP806

PAU6B05 PAU6B06 PAU6B07 PAU6B08

PAC18B01

PAR13B01 PAR13B02

PAR14B01 PAR14B02

COC18B COR12B COR14B COR13B

PAC6B01

PAU4B01

PAU4B016

PAU4B02 PAU4B03 PAU4B04 PAU4B05 PAU4B06 PAU4B07

PAU4B015 PAU4B014 PAU4B013 PAU4B012 PAU4B011 PAU4B010

PAU4B08

PAC11B02

COC1 B

PAU1B01 PAU1B02 PAU1B03

PAU1B09

PAU1B04

PAU4B09

COC18C

PAU8C04 PAU8C05

PAJP1302 PAJP1301

PAU8C03 PAU8C02 PAU8C01

PAC7502 PAC7501

COC75

COR45 COR46

PAR4601 PAR4701

COC10B

PATP5500

COR47

COJP1B

COC1B

PAJP1B021 PAJP1B022 PAJP1B023 PAJP1B024 PAC9B01

PAU1B08

PAC1B02

PAJP1B025 PAJP1B026

PAU1B07

PAC1B01

PAJP1B027 PAJP1B028 PAC9B02 PAJP1B029 PAJP1B030

PAU1B06

PAJP1306 PAJP1305 COR22 PAJP1304 PAJP1303

PAR15C01 PAR15C02 COU8C PAC18C01 PAR16C01 PAC18C02 PAR16C02 PAC17C01 PAC17C02 PAR4502 PAR4501

PAR4602 PAR4702 COTP55

PAJP1B01 PAJP1B02 PAJP1B03 PAJP1B04 PAC10B02 PAJP1B05 PAJP1B06 PAJP1B07 PAJP1B08 PAC10B01 PAJP1B09 PAJP1B010 PAJP1B011 PAJP1B012 PAJP1B013 PAJP1B014 PAJP1B015 PAJP1B016 PAJP1B017 PAJP1B018

PAJP1B019 PAJP1B020

COR1B PAR1B02 PAR1B01 PAC11B01

PAC7402 PAC7401

COC17C

PAR13E01 PAR13E02PAR14E02

PAC3B01 PAC3B02

PAR1702 PAR1701

PAJP1202 PAJP1201

COR15C

PAU15028 PAU15027 PAU15026

COR21 COC64 PAC6402 PAC6401 PAU15015 PAU15016 PAU15017 PAU15018 PAU15019 PAU1502 PAU15021 PAR2101 PAR2102 PAR4401

PAMCU0LED01

PAC11E01 PAC11E02

PAC12E02 PAR11E01

COSTM0PWRLED

PAR4202

PAR9202 PAR9201PAU14C04PAU14C03 PAU14C02

PAC12E01 PAR11E02

COC19 PAC1902 PAC1901

PAJP1206 PAJP1205 PAJP1204 COJP12 PAJP1203

COC74

COU6E

PAR8402 PAR8401COR84 PAC7701 PAC7702COC77

COTP35

PASTM0PWR0LED01

PAU1C07

PATP1900

PATP2500

COJP17

PATP700 PATP800 PAJP1702PAJP1703 COTP11 COC1C

PAU16A09

PAU16B09

PATP2400

PAU19C08 PAU19C07 PAU19C06 PAU19C05

COC73

PATP1700 PATP1500

PAU9013

PAU908 PAU907 PAU906

PAC7302 PAC7301

PAR5502 PAR5501 COR55

PAR5302 PAR5301

COU10PATP10 0 PATP900

COTP17COTP21 COTP15 PAD102 PAD101

PATP1800

PAU9017

PAC3101 PAC3102 COC31

PAC2901

PAJP1102 PAJP1101

PAR5402 PAR5401 COR54

COC2 COR20 PATP1300 COR53 COTP7COTP8

PAU506

PAU9012 PAU9011 PAU9010

PAU7052 PAU7053 PAU7054

PAC4501

COC10A

COR51 COC69

COR52COTP13 PAR5202 PAR5201

PAU1001 COTP18

PAU9025 PAU9024 PAU9023 PAU9022 PAU9021 PAU9020 PAU9019 PAU9018

PAU7051

PAC4401

PAC10A02

COR1A

PAFB101

COC23 PAC2302 PAC2301

PAU9026

COC14

PAC10A01

PAR1A01 PAR1A02

PAU503 PAU502

COU5 PAC3302 PAC3301 COL1PAC801 COC8 PAU1002 COC33 COC24 PAC2402 PAC2401

PAC1302 PAC1402 PAC3201 PAC3202 PAC1401 COC32

PAU7044

PAC76C01 PAC76C02

PAU19C01 PAU19C02 PAU19C03 PAU19C04

PATP5400

COJP8

PAU1A01 PAU1A02 PAU1A03

COC9A

COJP1A

COU1A PAU1A09

PAR14A02

PAU504 PAU505

PAU9039

PAC1301

PAC9A01

PAU1705 PAU1704 PAU1703 PAU1702PAU1701

PAC701

PAC2503 PAU9044

PAU7038 PAU7039

PAU7010 PAU709 PAU708 PAU707

PAR81C01 PAR81C02

PAR82C02

PATP320 PACTOPR4210A

PAC63A02

PAC2A02 PAC2A01

PAJP905 PAJP906

PAC11A02

COC1 A

PAR13A01

PATP2200

COC3A COC5ACOR7A COC4A COR1 C OC12C

PAU3A03 PAU3A02 PAR5901

PAU6A03 PAU6A02 PAU6A01

COR18

PAC4302

PAC4A02 PAC4A01

PAJP901 PAJP902

PAC3601

PAC4301

PAU6C08PAU6C07PAU6C06PAU6C05 PAR11C01PAC12C02 COR12C PAR14C01 PAR12C02 PAR12C01 COR14C COC11CPAC11C02 PAC11C01 PAR11C02PAC12C01 COR13C PAR14C02PAR13C02 PAR13C01 COU6C PAU6C01PAU6C02PAU6C03PAU6C04

COJP9

PAC3502

PAU703 PAU702 PAU701

PAU90128

PAR6A01 PAR6A02

PAC3602

PAU704

PAC4202 PAC4201

COR6A

PAR1802

PAU909

PAU90125 PAU90126 PAU90127

PAJP1005 PAJP1006

PAU6A06 PAU6A07 PAU6A08

PAC11A01

COC35

PAU14B0 PAU14B03 PAU14B02PAU14B01

COR25A COR26A

PAC1A02 PAC1A01

PAU6A04

PAC18A01 PAR12A01

PAU8A03 PAU8A02 PAU8A01

COC1A COC37 PAU1A08 PAU1A07 PAU1A06

PAU6A05

PAC9A02

COU4A

PATP210 PAC2801 PAC2802 COC28COU16A PAC2002 PAC2001 PAU16A06 CO 6402 COC42 PAU16A07 PAU16A08 COC68A PATP1200 PAC68A02 PAC68A01 PAU16A04 PAU9013PAU90134PAU90135 PAU90136 PAU90137PAU90138PAU90139 PAU9014 PAU9014PAU90142PAU90143PAU9014CPAOU90145 CPAU490146PAU90147PAU90148 PAU9014 PAU9015PAU9015PAU90152 PAU90153 PAU90154PAU9015PAU90156PAU90157 PAU90158PAU90159PAU0C16POAU901C6 4PAU901652 PAU90163PAU90164PAU90165 PAU9016 PAU90167PAU90168PAU90169 PAU9017 PAU9017PAU90172PAU90173 PAU90174 PAU90175PAU90176 COTP22 COU15 PAU15029 PAU16A03 COC29 PAU16A02COTP20 COD2 COR41C PAC63C01 COTP24 PAU16A01 PAR50A02 PAR1902 PAU16B05 COTP25 COC43 COR92PAR41C02 COC63C PAC63C02 PAR50A01 PAR41C01 COU16B PAR1901COR19PAU16B06PAU16B07PAU16B08COTP27 COC76C COR82C COR81C PAU14C09 COU14C COR44 PAC68B02 COR50A COTP53 PATP3400 COTP26 PAU16B04 COTP23PATP2700 PAC68B01 PATP100 COR43 COR23 COC68B COTP28PAU16B03PAU16B02 COC11E COTP1 PATP5300 COTP34 PAU16B01 PAR50B02 COU20 COU19C 1 0 E 4 3 2 0 0 0 6 E E E U 6 6 6 U U U A A A A P P P P COR13E PATP2800 PAR50B01COR50B COR83C COTP31 PAU6E05 PAU6E06 PAU6E07PAU6E08 COC12ECOR1 ECOC3B COC4B PAU90117 PAU90118 PAU90119

COC20

PAJP1003 PAJP1004

PAU4A011 PAU4A010 PAU4A09

PAU14B09

PAU7011

PAC1601 PAC1602

PAU4A06 PAU4A07 PAU4A08

PAC63B02

PAU14B05 PAU14B06 PAU14B07PAU14B08

PAU90116

PAU90120

PAJP1001 PAJP1002

PAR1801

COC34 AU9047 PAU9046PAU9045 COC27 PAU908PAU9087PAU9086 PCAU9085OPACU90834PAU89083PAU9082 PAU9081 PAU908PAU907PAU9078PAU907 PAU9076 PAU9075PAU9074PAU9073 PAU9072 PAU9071PAU907PAU906 PAU9068 PAU9067PAU906PAU9065PAU9064 PAU9063PAU9062PAU9061PAU906 PAU905 PAU9058PAU9057PAU9056 PAU905 PAU9054PAU9053PAU9052 PAU9051 PAU905PAU904PAU9048 PCOC26

COR34PAR3401 PAR3402

PAC12D01 PAR11D02 PAU6D08 PAC11D01 PAR12D01 PAC11D02 PAR12D02PAR14D01

COTP56

PAR41B01 PAR41B02

PAC2102

PAC12D02 PAR11D01

PAU19B08 PAU19B07 PAU19B06 PAU19B05

PAR83B01

COR83B

COR33 PAR3302 PAR3301

COC12DCOR1 D

PAU19D05

COU19B

PAU8A04

PAR2402 COTP0 PAC63B01

COR41B

COC21

PAU4A016 PAU4A015 PAU4A014 PAU4A013 PAU4A012

COC18A COR12A COR14A COR13A

63B COSW0LECDOU14B COCPATP000 PASW0LED01PAR2401 PASW0LED02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05

COU6A

PAR16A01 PAC17A02 PAU8A05 PAC18A02 PAR12A02 COR15A PAR15A01 PAR15A02 PAR14A01 PAR16A02 PAC17A01 COU8A

PAU19A03 PAR81A01 PAU19A02 PAR81A02 PAC76A02 PAC76A01 COC76A

COR81D COC76B COR81B

PAR83B02

PAC12A02 PAR11A01

PAR6C01

PAU19D08 PAU19D07 PAU19D06

PAR83D02PAR82B02 PAR82B01

PAC12A01 PAR11A02

COR16A COC17A

COU19A

COR81A

PAR8A02PAR9A02PAR10A02

COC12A COR1 A COR8ACOR9ACOR10A

COL2 PAU12011

PAJP1A01 PAJP1A02 PAJP1A03 PAJP1A04 PAJP1A05 PAJP1A06 PAJP1A07 PAJP1A08 PAJP1A09 PAJP1A010 PAJP1A011 PAJP1A012 PAJP1A013 PAJP1A014 PAJP1A015 PAJP1A016 PAJP1A017 PAJP1A018 PAJP1A019 PAJP1A020 PAU1A05 PAJP1A021 PAJP1A022 PAR25A01PAR26A01 PAJP1A023 PAJP1A024 PAR25A02PAR26A02 PAJP1A025 PAJP1A026 PAJP1A027 PAJP1A028 PAU1A04 PAJP1A029 PAJP1A030

PAC6A01 PAC6A02

PAR8A01PAR9A01PAR10A01

PAC5601

PAC5701

PATP300COTP3 COC6A

PAF102

PAU1206PAU1207PAU1208 PAU1209PAU120 PAL201

COC57

COFB2

COF1

PAR3901

PAR3701 PAR3702 COC56COR37

PAU1205PAU1204PAU1203 PAU120 PAU1201 PAL202 COU12

PAU2B04 PAU2B03 PAU2B02

PAU19D01 PAU19D02 PAU19D03

PAR83D01

COR82B

COU2B

PAFB201

PAC5702

COTP45 COTP40 PATP4500 COR2B COTP38 COC76D COU19D PATP3800 COC2B COR3B PAC76D01PATP4000PAC76D02 PAR81D02COTP39 PAR81D01 PATP3900 PAU2B05 PAU2B06 PAU2B07

PAFB202

PAU13C09POAU1C30150PAU91301 PAU13012 PAU13013 PAU13014PAU13015PAU13016 COR38 PAC6101COC61 PAC5901

PATP4700

PATP4100 PATP4300 PATP4200

PAU2C04

PAJP2020 PAJP2018 PAJP2016 PAJP2014 PAJP2012 PAJP2010 PAJP208 PAJP206 PAJP204 PAJP202

PAF101

PAC6102

PAC5902

PAC5C01 PAC5C02 PAR7C01 PAR7C02 COR7C COC5C

PAR82A02

PAR3C02PAU2C03 PAR3C01

PAX10MH2

PAX10GNDPAX10ID PAX10D PAX10D PAX10VC

PAR4801 PAR6C02

PAR82A01 COU2C

PAC2C01 PAR2C02 PAU2C06 PAU2C07 PAR2C01 PAU2C08 PAC2C02

PAJP705 PAJP706 PAJP707 PAJP708

PAR13F01

PAC11F01 PAR12F02 PAC11F02 PAR14F01

PAX10MH1

PATX0LED02

PATP4600 COTP48

PATP4900

PAR4802

COR12F PAR12F01

PATX0LED01

COC4C PAU3C06 PAU3C05 PAU3C04 COR48 COTP44 R6C PATP4400 COC3C PAC3C02 PAC3C01 COU3C PAU3C01 PAU3C02 PAU3C03 COCOTP41 COTP43 COTP42

PAU6F05 PAU6F06 PAU6F07 PAU6F08

PAJP2019 PAJP2017 PAJP2015 PAJP2013 PAJP2011 PAJP209 PAJP207 PAJP205 PAJP203 PAJP201

COX1

COC62

PAR11F01 PAR11F02

COU6F

PAR3602 PAR3601

PARX0LED01 PARX0LED02

COC66

PATP5000

PAC12F02 PAC12F01

COUSB0PWR CORX0LED COTX0LED

COR35 COR36 PAX10MECH

COTP46

COC65 COU11

COC47 COC46 PAC4601

PAR3201

PAR3502 PAR3501

PAC3702 PAC3701

PAU1108 PAU1107 PAU1106

COC67 COTP52 COTP51 PATP5200 PAC5102 PAC5101 COTP50 PAC4902 PAC4901 COTP49 PAC6 01 PAC6 02 PAC4701

PAC4703

PAJP503 PAJP504

PAR3202 PAUSB0PWR01 PAUSB0PWR02

PAC50 2 PAC50 1 PAC4802 PAC4801 PAC6501 PAC6502 COR30 PAJP501 PAJP502

COR32

COC9B

PAU1B05

PAR25B01 PAR26B01

COU1B

PAR25B02 PAR26B02

COR25B COR26B

PATP400 COTP4

PAJP801 PAJP803 PAJP805

COTP32

Figure 4.32: On-board computer system’s printed circuit board layer 6 - component and signal plane.

1

2

3

4

A

A

COC30 C30 PIC3001

COJP1 JP1 29 PIJP1029 27 PIJP1027 25 PIJP1025 23 PIJP1023 21 PIJP1021 19 PIJP1019 17 PIJP1017 15 PIJP1015 13 PIJP1013 11 PIJP1011 9 PIJP109 7 PIJP107 5 PIJP105 3 PIJP103 1 PIJP101

CHANNEL SingleSPI_Channel.SchDoc VCC

B

GND

10uF C0805

VCC

NLG\Y\R\1\0\C\S\ GYR1_CS NLG\Y\R\2\0\C\S\ GYR2_CS NLA\D\C\0\C\S\ ADC_CS NLM\A\G\0\C\S\ MAG_CS

PIC3002

GYR1_CS GYR2_CS ADC_CS MAG_CS

NLMAG0RDY MAG_RDY NLA\D\C\0\I\N\T\ ADC_INT NLMAG0INT MAG_INT

MAG_RDY ADC_INT MAG_INT GYR1_INT GYR2_INT ACC_SLFT SYNC

NLGYR10INT GYR1_INT

NLGYR20INT GYR2_INT NLSLF0TST SLF_TST NLSYNC SYNC NLSDO SDO NLSDI SDI NLSCLK SCLK

SDO SDI SCLK

MAG_INT GYR1_INT

NLOUT2 OUT2

SYNC

NLSCL SCL NLSDA SDA SDI SCLK SDO ADC_CS MAG_CS GYR2_CS GYR1_CS

30 PIJP1030 28 PIJP1028 26 PIJP1026 24 PIJP1024 22 PIJP1022 20 PIJP1020 18 PIJP1018 16 PIJP1016 14 PIJP1014 12 PIJP1012 10 PIJP1010 8 PIJP108 6 PIJP106 4 PIJP104 2 PIJP102

VCC

GYR2_INT SLF_TST

GND

GND

ADC_INT MAG_RDY

B VCC

PIN_2x15

COC37 C37 PIC3701

PIC3702

GND

10uF C0805

71

PIR10 2 COR10 R10 270R

PIR10 1 R0603 PID101 COD1 D1 PID102 Red

C

C

GND

MainPCB.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A

3

Figure 4.33: Attitude and orbit control system and its connector schematic.

4

D

Sheet: 1

of 7

1

2

3

TEMP_ADC tempSensorAnalog.SchDoc

TEMP_ACC tempSensorAnalog.SchDoc

NLAIN1 AIN1 VCC

VCC

TEMP

4

TEMP

NLAIN3 AIN3

VCC

VCC

A

A U_ADC-AOCS ADC-AOCS.SchDoc

NLAIN000070 AIN[0..7]

AIN[0..7] VCC SCLK SDI SDO

ACCELEROMETER KXRB5_acc.SchDoc VCC

NLACC0SLFT ACC_SLFT POACC0SLFT ACC_SLFT

VCC

NLAIN7 AIN7

X Y Z

VCC

POA\D\C\0\C\S\ ADC_CS

CS INT CONVST

NLSYNC SYNC

POA\D\C\0\I\N\T\ ADC_INT

NLAIN6 AIN6

NLAIN5 AIN5

ST_ACC

TEMP_GYR1 tempSensorAnalog.SchDoc

B VCC

VCC

TEMP

B

TEMP_GYR2 tempSensorAnalog.SchDoc

NLAIN2 AIN2 NLAIN4 AIN4

TEMP

VCC

VCC

GYROSCOPE2 MPU-6000_gyr.SchDoc

72

GYROSCOPE1 MPU-6000_gyr.SchDoc VCC

POG\Y\R\1\0\C\S\ GYR1_CS POGYR10INT GYR1_INT

VCC CS_GYR INT_GYR

SYNC SYNC POSYNC SYNC

FSYNC SCLK SDI SDO

FSYNC SCLK SDI SDO

VCC

VCC

POG\Y\R\2\0\C\S\ GYR2_CS POGYR20INT GYR2_INT

CS_GYR INT_GYR

C

C TEMP_MAG tempSensorAnalog.SchDoc VCC

VCC

TEMP

NLAIN0 AIN0

POSCLK SCLK POSDI SDI POSDO SDO

MAGNETOMETER LIS3MDL_mag.SchDoc VCC

POMAG0INT MAG_INT POMAG0RDY MAG_RDY

POM\A\G\0\C\S\ MAG_CS

VCC

VCC

INT_MAG DRDY1 CS_MAG

SCLK SDI SDO

SingleSPI_Channel.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 6.01.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

POVCC VCC

2

3

Figure 4.34: Attitude and orbit control system’s connections schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A 4

D

Sheet: 2

of 7

1

2

3

4

A

A

VCC

PIC2 02 PIC2 01

COC25 C25

COC38 C38 PIC3801

COC22 C22 100uF C0603

*F C0603FT

PIC3802

PIC2502

PIC3803

GND

PIC2501

100nF C0603

COU7 U7

COL1 L1

GND

PIL101

*H L0805

B

COU8 U8

VCC 4 3

POVCC VCC

PIC1702 PIC1701

COC17 C17

73

1uF C0603

PIC1802 PIC1801

COC18 C18 100nF C0603

PIU804 PIU803

PIL102

PIC2302 PIC2301 GND

VIN VOUT EN VSEN GND SENSE GND

6 PIU806 5

PIU805

PIC1902 PIC1901

2 1 PIU801

PIU802

13 14

COC23 C23 100nF C0603

GND

GND

PIU7014

VBD VA

2 18 1 19

PIJP202

PIU7018

PIJP201

PIU7019

ADC_FILTER 15 16

COC19 C19 100nF C0603

11 20 17 25

GND

PIU7015 PIU7016

PIU7011 PIU7020 PIU7017 PIU7025

CLK SDI SDO CS

PIU707

POSCLK SCLK

PIU709

POSDI SDI

CONVST EOC/INT/CDI RESET

PIU7012

REF+ REF-

PIU7022 PIU7023

NLAIN4 AIN4

NLAIN5 AIN5 NLAIN6 AIN6 NLAIN7 AIN7

7 9 10 PIU7010 PIU7088

B VCC

PIR902 COR9 R9 100k

PIR901 R0603 POC\S\ CS

12 6 5 PIU705

POC\O\N\V\S\T\ CONVST

POI\N\T\ INT

PIR1 01

GND

NLAIN0 70 POSDO SDO

PIU706

ADS8332IRGET

C

POAIN7 POAIN6 POAIN5 POAIN4 POAIN3 POAIN2 POAIN1 POAIN0 POAIN000070 AIN[0..7]

PIU7021

ADCIN MUXOUT

DGND COM AGND PAD

NLAIN0 AIN0 NLAIN1 AIN1 NLAIN2 AIN2 NLAIN3 AIN3

21 22 23 PIU702424 1 PIU701 2 PIU702 3 PIU703 4 PIU704

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

COJP2 JP2

ADR3430ARJZ-R7 GND

PIU7013

AIN[0..7]

GND

PIR1201

PIR1301

COR11 R11

COR12 R12

COR13 R13

100k PIR1 02 R0603

100k PIR1202 R0603

PIR1302 R0603

VCC

VCC

100k

C

VCC

ADC-AOCS.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.35: Analog to digital converter’s schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A 4

D

Sheet: 3

of 7

1

2

3

4

A

A

B

Filter capacitor C = 4.97e-6/f Bandwith ~1kHz with 4nF capacitors

COU1 U1 1 2 13 14

POVCC VCC

PIC102 PIC101

74

GND

COC1 C1 100nF C0603

PIC3202 PIC3201

COC32 C32

6

100nF C0603

11 12

GND

PIU101 PIU102 PIU1013 PIU1014

PIU106

PIU1011

PIU1012

VDD VDD VDD VDD EN

X Y Z ST S1 S0

Vmux AUX_InGND

7 8 PIU108 9 PIU109

POY Y POZ Z

5 PIU105 4 3

PIU104 PIU103

10 PIU1010

B

POX X

PIU107

POST0ACC ST_ACC

PIR102 COR1 R1 100k PIR101 R0603

PIC3102 PIC3101

PIC202 PIC201

COC31 C31 100nF C0603

COC2 C2 3.9nF C0603

PIC302 PIC301

PIC402 PIC401

COC3 C3 3.9nF C0603

COC4 C4 3.9nF C0603

KXRB5-2050 GND GND

GND

GND

GND

GND

GND

C

C

KXRB5_acc.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 10.01.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.36: Accelerometer schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A 4

D

Sheet: 4

of 7

1

2

3

4

A

A

POVCC VCC

PIC602

PIC601 B

PIC502

COC6 C6 1uF C0603

PIC501

COC5 C5

PIR202

100nF C0603

COR2 R2

B

100k

PIR201 R0603 GND

COU2 U2

GND 5 6

PIC702 PIC701

75 GND

PIU2010

POC\S\0MAG CS_MAG

PIU206

PIU201

4 PIU204

11 PIU2011

POSCLK SCLK POSDI SDI POSDO SDO

VDD CS VDDIO SPC C1 SDI 2 PIU202 RESV SDO 3 PIU203 GND DRDY 12 PIU2012 RESV INT

COC7 C7 100nF C0603

10 1

PIU205

9 PIU209 8 PIU208 7 PIU207

PODRDY1 DRDY1 POINT0MAG INT_MAG

LIS3MDL GND

C

C

LIS3MDL_mag.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 10.01.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.37: Magnetometer schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A 4

D

Sheet: 5

of 7

1

2

3

4

A

A

POVCC VCC

PIC902 PIC901

COC9 C9 100nF C0603

PIR302 COR3 R3 COU4 U4

GND

B

PIC1 02 PIC1 01

13 PIU4013 10 PIU4010 11 PIU4011 2 PIU402 3 PIU403 4 PIU404 5 PIU405 14 PIU4014 15 PIU4015 16 PIU4016 17 PIU4017 18 PIU4018

POFSYNC FSYNC COC11 C11 100nF C0603

76

GND

VDD RESV REGOUT RESV FSYNC nCS NC SCL/SCLK NC SDA/SDI NC AD0/SD0 NC INT NC AUX_DA NC AUX_CL NC RESV NC CLKIN GND CPOUT

100k

19 21 PIU4021 8 PIU408 23 PIU4023 POSCLK SCLK 24 PIU4024 POSDI SDI 9 PIU409 POSDO SDO 12 PIU4012 POINT0GYR INT_GYR 6 PIU406 7 PIU407 22 PIU4022 1 PIU401 20 PIU4020 PIU4019

PIC10 2 PIC10 1

MPU-6000 GND

PIR301 R0603

B

POC\S\0GYR CS_GYR

GND

COC10 C10 2.2nF C0603

GND

C

C

Pad should not be soldered to the board

MPU-6000_gyr.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 9.01.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

3

Figure 4.38: Gyroscope schematic.

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A 4

D

Sheet: 6

of 7

1

2

3

4

A

A

B

B

POVCC VCC

PIC1202 PIC1201

COU6 U6 COC12 C12 100nF C0603

5

PIU605 PIU604

1

PIU602 PIU601

VDD OUT GND

LMT86DCK

3

PIU603

COR4 R4 PIR402

POTEMP TEMP

PIR401

100k R0603

PIC1302 PIC1301

COC13 C13 1nF C0603

77

GND GND

C

C

tempSensorAnalog.SchDoc Project: EC2-AOCS_v1.PrjPcb Subsystem: AOCS Drawn by: Hannes Haljaste Modified: 15.05.2017 Checked by: Indrek Sünter Checked on: 15/12/2016 Approved by: n/a Approved on: n/a

D

1

2

University of Tartu Ravila 14c - D601 Tartu 50411 Tartumaa Estonia [email protected] Revision: A

3

Figure 4.39: Attitude and orbit control system’s temperature sensor schematic.

4

D

Sheet: 7

of 7

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU2012

PAU206

PAU205

78

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.40: Attitude and orbit control system’s printed circuit board layer 1 - component and signal plane.

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU2012

PAU206

PAU205

79

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.41: Attitude and orbit control system’s printed circuit board layer 2 - ground plane.

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU206

PAU2012

PAU205

80

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.42: Attitude and orbit control system’s printed circuit board layer 3 - signal plane.

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU206

PAU2012

PAU205

81

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.43: Attitude and orbit control system’s printed circuit board layer 4 - signal plane.

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU206

PAU2012

PAU205

82

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.44: Attitude and orbit control system’s printed circuit board layer 5 - power plane.

PAR202 PAR201

COJP1

COR2

PAJP101 PAJP102 PAC502PAC602 PAJP103 PAJP104 PAU201PAU202PAU203PAU204 PAC501PAC601 PAJP105 PAJP106 PAJP107 PAJP108 PAC702 PAJP109 PAJP1010 PAC701 PAJP1011 PAJP1012 PAJP1013 PAJP1014 PAC12E02 PAU6E05 PAU6E04 PAJP1015 PAJP1016 PAC12E01 PAU6E01PAU6E02PAU6E03 PAJP1017 PAJP1018 PAJP1019 PAJP1020 PAC13E01 PAR4E02 PAJP1021 PAJP1022 PAJP1023 PAJP1024 PAC13E02 PAR4E01 PAJP1025 PAJP1026 PAJP1027 PAJP1028 PAJP1029 PAJP1030 PAR1002 PAR1001 PAU6B04

COU2

PAU2012

PAU206

PAU205

83

COC12E

COC7 COC5COC6

COC13E

COU6E COR4E

COR10

PAD101 PAD102

COD1

COR3A

PAR3A02 PAR3A01 COU4A

COU6B

PAU4B013

PAC11A01 PAC11A02

PAU4A01 PAU4A02 PAU4A03 PAU4A04 PAU4A05 PAU4A06 PAU4A024

PAU4B012 PAU4B01 PAU4B010 PAU4B09 PAU4B08 PAU4B07

PAU2010PAU209PAU208PAU207

PAU2011

COC11B PAR3B02 PAR3B01 PAC11B01 PAC11B02 COR3B

PAU4B06

PAU4A023 PAU4A022 PAU4A021

PAU4A025

PAU4A07

PAU4A08 PAU4A09 PAU4A010

COC1 A

PAC3701 PAC9B02 PAC10A02 PAU4A018 PAU4A017 PAU4A01COC12A 6 PAU4A015 PAU4A014 PAU4A013 COU6D PAC9B01 PAC12A01 PAC12A02 PAC3702 COC1 PAU4B019 PAU4B020 PAU4B021 PAU4B02 PAU4B023 PAU4B024 PAU6D05 PAC12D02 PAC10A01 PAC9A01 PAC9A02 PAU6D04 PAU6A01 PAU6A05 PAR102 PAR101 COR4A PAU6A02 PAC101 COR1 PAC102 PAC10B01 PAC10B02 COC10B COC9A PAU6A04 PAU6D03PAU6D02PAU6A03 PAU6D01 PAC12D01 PAC3102 PAC3101 COC31 PAR4A01 PAR4A02 PAU6C04 PAU6C03 PAR4C02 PAR4C01 COR4C PAU6C02 PAC13A02 PAC13A01PAR4D02 PAC13D01 PAC3201 PAC3202 PAU106PAU105PAU104PAU103PAU102PAU101 PAU6C05 PAU6C01 PAC13C01 PAC13C02 PAU107 PAU1014 COC13A PAC201 PAC202 PAR4D01 PAC13D02 PAU108PAU109PAU1010PAU101 PAU1012PAU1013 PAC12C02 PAC12C01 COC13C

COCC9OBC37

PAU4B014

PAU4B015

PAU4B016

PAU4B017

PAU4B025

PAU4B018

PAU4B05

PAU4B04

COC10A

PAU4B03

PAU4B02

PAU4B01

COU4B

PAU4A020 PAU4A019

O2UD6A 1 C O C COC32 COR4D COC13D

COU6C

COC2

COC12C

COR12 PAC3002 PAC3001 PAU6B03

PAU6B02 PAU6B05 PAU6B01

COC12B PAC12B02 PAC12B01

COC30 COR4B

COC13B

PAR4B02 PAR4B01 PAC13B01 PAC13B02

PAU4A011 PAU4A012

COR9 PAR901 PAR902 PAR1301 PAR1302

COU1 PAR1102 PAC302 PAC301 PAC402 PAC401 COC4 PAR1202 PAR1101 PAR1201 PAU706 PAU705 PAU704PAU703 PAU702 PAU701 COC3

COR11

PAU707 PAU708

COC25

PAU709 PAU7010

PAU7011 PAU7012

PAU7024 PAU7023

PAU7025 COU7 PAU7022

PAU7021

PAU7020

PAU7019

PAJP201 PAJP202

PAU7013 PAU7014 PAU7015PAU7016 PAU7017 PAU7018

PAC1701 PAC1801 PAU803 PAU802 PAU801 PAC2502 COC23 PAC1901 PAC1702 PAC1802 PAC2501 PAC2301 PAC2302 PAC1902 PAU804 PAU805 PAU806 PAC2201 PAC3802 PAL102 PAC3803 COC22 PAC2202 PAC3801 PAL101 COL1

COR13

COJP2

COC17 COC19 COC18

COU8

COC38 Figure 4.45: Attitude and orbit control system’s printed circuit board layer 6 - component and signal plane.

84 Figure 4.46: On-board computer system block diagram.

Non-exclusive licence to reproduce thesis and make thesis public I, Hannes Haljaste 1. herewith grant the University of Tartu a free permit (non-exclusive licence) to: (a) reproduce, for the purpose of preservation and making available to the public, including for addition to the DSpace digital archives until expiry of the term of validity of the copyright, and (b) make available to the public via the web environment of the University of Tartu, including via the DSpace digital archives until expiry of the term of validity of the copyright, ELECTRONICS DESIGN AND TESTING FOR ESTCUBE-2 ONBOARD COMPUTER SYSTEM WITH SENSORS FOR ATTITUDE DETERMINATION supervised by Indrek S¨unter and Viljo Allik 2. I am aware of the fact that the author retains these rights. 3. I certify that granting the non-exclusive licence does not infringe the intellectual property rights or rights arising from the Personal Data Protection Act. Tartu, 19.05.2017