EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 4 5
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
Text HLabel 1200 850  0    50   Input ~ 0
SERVO_SIG
Text Label 1500 850  0    50   ~ 0
SERVO_SIG
Wire Wire Line
	1500 850  1200 850 
Text Label 1500 1050 0    50   ~ 0
ESC_SIG
Wire Wire Line
	1500 1050 1200 1050
Text HLabel 1200 1050 0    50   Input ~ 0
ESC_SIG
Text HLabel 1200 1250 0    50   Input ~ 0
5Vcc
Text Label 1500 1250 0    50   ~ 0
SERVO_VCC
Wire Wire Line
	1200 1250 1500 1250
$Comp
L plib:MS860702BA01-50 U5
U 1 1 5F7D6208
P 3900 3400
F 0 "U5" H 3900 3967 50  0000 C CNN
F 1 "MS860702BA01-50" H 3900 3876 50  0000 C CNN
F 2 "plib:TE_MS860702BA01-50" H 3900 3400 50  0001 L BNN
F 3 "MS860702BA01-50" H 3900 3400 50  0001 L BNN
F 4 "Compliant" H 3900 3400 50  0001 L BNN "Field4"
	1    3900 3400
	1    0    0    -1  
$EndComp
$Comp
L plib:LSM6DS33TR U7
U 1 1 5F7E0AA6
P 3750 5700
F 0 "U7" H 3750 6367 50  0000 C CNN
F 1 "LSM6DS33TR" H 3750 6276 50  0000 C CNN
F 2 "plib:PQFN50P300X300X86-16N" H 3750 5700 50  0001 L BNN
F 3 "6" H 3750 5700 50  0001 L BNN
F 4 "STMicroelectronics" H 3750 5700 50  0001 L BNN "Field4"
F 5 "IPC-7351B" H 3750 5700 50  0001 L BNN "Field5"
	1    3750 5700
	1    0    0    -1  
$EndComp
NoConn ~ 4350 5900
$Comp
L dk_Magnetic-Sensors-Linear-Compass-ICs:LIS3MDLTR U6
U 1 1 5F7D82C0
P 7150 4300
F 0 "U6" V 7725 4775 60  0000 C CNN
F 1 "LIS3MDLTR" V 7625 4775 60  0000 C CNN
F 2 "digikey-footprints:VFLGA-12_2x2mm" H 7350 4500 60  0001 L CNN
F 3 "http://www.st.com/content/ccc/resource/technical/document/datasheet/54/2a/85/76/e3/97/42/18/DM00075867.pdf/files/DM00075867.pdf/jcr:content/translations/en.DM00075867.pdf" H 7350 4600 60  0001 L CNN
F 4 "497-13892-1-ND" H 7350 4700 60  0001 L CNN "Digi-Key_PN"
F 5 "LIS3MDLTR" H 7350 4800 60  0001 L CNN "MPN"
F 6 "Sensors, Transducers" H 7350 4900 60  0001 L CNN "Category"
F 7 "Magnetic Sensors - Linear, Compass (ICs)" H 7350 5000 60  0001 L CNN "Family"
F 8 "http://www.st.com/content/ccc/resource/technical/document/datasheet/54/2a/85/76/e3/97/42/18/DM00075867.pdf/files/DM00075867.pdf/jcr:content/translations/en.DM00075867.pdf" H 7350 5100 60  0001 L CNN "DK_Datasheet_Link"
F 9 "/product-detail/en/stmicroelectronics/LIS3MDLTR/497-13892-1-ND/4309737" H 7350 5200 60  0001 L CNN "DK_Detail_Page"
F 10 "SENSOR MR I2C/SPI 12LGA" H 7350 5300 60  0001 L CNN "Description"
F 11 "STMicroelectronics" H 7350 5400 60  0001 L CNN "Manufacturer"
F 12 "Active" H 7350 5500 60  0001 L CNN "Status"
	1    7150 4300
	0    1    1    0   
$EndComp
Wire Wire Line
	4350 6100 4500 6100
Wire Wire Line
	4500 6100 4500 6200
$Comp
L power:GND #PWR03
U 1 1 5F9BC7AC
P 4500 6200
F 0 "#PWR03" H 4500 5950 50  0001 C CNN
F 1 "GND" H 4505 6027 50  0000 C CNN
F 2 "" H 4500 6200 50  0001 C CNN
F 3 "" H 4500 6200 50  0001 C CNN
	1    4500 6200
	1    0    0    -1  
$EndComp
$Comp
L Device:R_Small R8
U 1 1 5F9BFDA4
P 3500 6410
F 0 "R8" H 3559 6456 50  0000 L CNN
F 1 "10k" H 3559 6365 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 3500 6410 50  0001 C CNN
F 3 "~" H 3500 6410 50  0001 C CNN
	1    3500 6410
	0    1    1    0   
$EndComp
Text Label 1510 1450 0    50   ~ 0
I2C_SDA
Text Label 1510 1610 0    50   ~ 0
I2C_SCL
Text HLabel 1180 1450 0    50   Input ~ 0
I2C_SDA
Wire Wire Line
	1180 1450 1510 1450
Wire Wire Line
	1510 1610 1150 1610
Text HLabel 1150 1610 0    50   Input ~ 0
I2C_SCL
Text Label 3030 5600 2    50   ~ 0
I2C_SCL
Wire Wire Line
	3030 5600 3150 5600
Wire Wire Line
	3150 5700 3030 5700
Text Label 3030 5700 2    50   ~ 0
I2C_SDA
Wire Wire Line
	3150 5800 2710 5800
Wire Wire Line
	2710 5800 2710 6160
$Comp
L Device:R_Small R19
U 1 1 5FB00C52
P 2710 6260
F 0 "R19" H 2769 6306 50  0000 L CNN
F 1 "10k" H 2769 6215 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 2710 6260 50  0001 C CNN
F 3 "~" H 2710 6260 50  0001 C CNN
	1    2710 6260
	1    0    0    -1  
$EndComp
Wire Wire Line
	2710 6360 2710 6420
$Comp
L power:GND #PWR08
U 1 1 5FB01762
P 2710 6420
F 0 "#PWR08" H 2710 6170 50  0001 C CNN
F 1 "GND" H 2715 6247 50  0000 C CNN
F 2 "" H 2710 6420 50  0001 C CNN
F 3 "" H 2710 6420 50  0001 C CNN
	1    2710 6420
	1    0    0    -1  
$EndComp
Wire Wire Line
	3150 5900 3150 6410
Wire Wire Line
	3150 6410 3400 6410
Text HLabel 1140 1760 0    50   Input ~ 0
3V3cc
Wire Wire Line
	3600 6410 3740 6410
Wire Wire Line
	1140 1760 1510 1760
Text Label 1510 1760 0    50   ~ 0
Vcc
Text Label 3740 6350 0    50   ~ 0
Vcc
Wire Wire Line
	3740 6410 3740 6350
Text HLabel 1100 1950 0    50   Input ~ 0
GPS_EXT_INT
Text HLabel 1100 2100 0    50   Input ~ 0
IMU_EXT_INT1
Text HLabel 1100 2250 0    50   Input ~ 0
IMU_EXT_INT2
Text HLabel 1100 2400 0    50   Input ~ 0
MAG_EXT_INT
Text Label 1500 1950 0    50   ~ 0
GPS_EXT_INT
Wire Wire Line
	1100 1950 1500 1950
Wire Wire Line
	1100 2100 1500 2100
Wire Wire Line
	1100 2250 1500 2250
Wire Wire Line
	1100 2400 1500 2400
Text Label 1500 2100 0    50   ~ 0
IMU_EXT_INT1
Text Label 1500 2250 0    50   ~ 0
IMU_EXT_INT2
Text Label 1500 2400 0    50   ~ 0
MAG_EXT_INT
Wire Wire Line
	3400 3300 3250 3300
Wire Wire Line
	3400 3400 3250 3400
Text Label 3250 3400 2    50   ~ 0
I2C_SDA
Text Label 3250 3300 2    50   ~ 0
I2C_SCL
Text Label 4650 3100 0    50   ~ 0
Vcc
Wire Wire Line
	4650 3100 4400 3100
$Comp
L Device:C_Small C21
U 1 1 5FC78B95
P 4650 3350
F 0 "C21" H 4742 3396 50  0000 L CNN
F 1 "220nF" H 4742 3305 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 4650 3350 50  0001 C CNN
F 3 "~" H 4650 3350 50  0001 C CNN
	1    4650 3350
	1    0    0    -1  
$EndComp
Wire Wire Line
	4650 3250 4650 3100
Wire Wire Line
	4650 3450 4650 3600
Wire Wire Line
	4650 3600 4400 3600
Wire Wire Line
	4650 3600 4650 3700
Connection ~ 4650 3600
$Comp
L power:GND #PWR010
U 1 1 5FC7B2BF
P 4650 3700
F 0 "#PWR010" H 4650 3450 50  0001 C CNN
F 1 "GND" H 4655 3527 50  0000 C CNN
F 2 "" H 4650 3700 50  0001 C CNN
F 3 "" H 4650 3700 50  0001 C CNN
	1    4650 3700
	1    0    0    -1  
$EndComp
Wire Wire Line
	4350 5600 4500 5600
Text Label 4500 5600 0    50   ~ 0
IMU_EXT_INT1
Text Label 4500 5700 0    50   ~ 0
IMU_EXT_INT2
Wire Wire Line
	4350 5700 4500 5700
$Comp
L Device:Ferrite_Bead_Small FB4
U 1 1 5FC9A288
P 4000 7000
F 0 "FB4" V 3763 7000 50  0000 C CNN
F 1 "MPZ1608D300BTA00" V 3854 7000 50  0000 C CNN
F 2 "digikey-footprints:0603" V 3930 7000 50  0001 C CNN
F 3 "~" H 4000 7000 50  0001 C CNN
	1    4000 7000
	0    1    1    0   
$EndComp
$Comp
L Device:C_Small C20
U 1 1 5FCA072C
P 3600 7100
F 0 "C20" H 3692 7146 50  0000 L CNN
F 1 "0.1uF" H 3692 7055 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 3600 7100 50  0001 C CNN
F 3 "~" H 3600 7100 50  0001 C CNN
	1    3600 7100
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR09
U 1 1 5FCA200E
P 3600 7350
F 0 "#PWR09" H 3600 7100 50  0001 C CNN
F 1 "GND" H 3605 7177 50  0000 C CNN
F 2 "" H 3600 7350 50  0001 C CNN
F 3 "" H 3600 7350 50  0001 C CNN
	1    3600 7350
	1    0    0    -1  
$EndComp
Wire Wire Line
	3600 7000 3900 7000
Wire Wire Line
	4100 7000 4450 7000
Wire Wire Line
	4450 7000 4450 6950
Text Label 4450 6950 0    50   ~ 0
Vcc
$Comp
L Device:C_Small C22
U 1 1 5FCB03AF
P 5200 5500
F 0 "C22" H 5292 5546 50  0000 L CNN
F 1 "0.1uF" H 5292 5455 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 5200 5500 50  0001 C CNN
F 3 "~" H 5200 5500 50  0001 C CNN
	1    5200 5500
	1    0    0    -1  
$EndComp
Wire Wire Line
	4350 5400 5200 5400
Wire Wire Line
	5200 5600 5200 5750
$Comp
L power:GND #PWR011
U 1 1 5FCB2087
P 5200 5750
F 0 "#PWR011" H 5200 5500 50  0001 C CNN
F 1 "GND" H 5205 5577 50  0000 C CNN
F 2 "" H 5200 5750 50  0001 C CNN
F 3 "" H 5200 5750 50  0001 C CNN
	1    5200 5750
	1    0    0    -1  
$EndComp
Wire Wire Line
	3600 7200 3600 7350
Wire Wire Line
	3600 7000 3500 7000
Wire Wire Line
	3500 7000 3500 6850
Connection ~ 3600 7000
Text Label 3500 6850 2    50   ~ 0
LSM6DS33TR_VCC
Text Label 4450 5300 0    50   ~ 0
LSM6DS33TR_VCC
Wire Wire Line
	4350 5300 4450 5300
Wire Wire Line
	5200 5400 5450 5400
Wire Wire Line
	5450 5400 5450 5250
Connection ~ 5200 5400
Text Label 5450 5250 0    50   ~ 0
Vcc
$Comp
L RF_GPS:ublox_SAM-M8Q U4
U 1 1 5FCDBB35
P 1850 4100
F 0 "U4" H 2250 3500 50  0000 C CNN
F 1 "ublox_SAM-M8Q" H 2250 3600 50  0000 C CNN
F 2 "RF_GPS:ublox_SAM-M8Q" H 2350 3650 50  0001 C CNN
F 3 "https://www.u-blox.com/sites/default/files/SAM-M8Q_DataSheet_%28UBX-16012619%29.pdf" H 1850 4100 50  0001 C CNN
	1    1850 4100
	1    0    0    -1  
$EndComp
Text HLabel 1150 2600 0    50   Input ~ 0
GPS_USART_RX
Text HLabel 1150 2700 0    50   Input ~ 0
GPS_USART_TX
Text Label 1500 2600 0    50   ~ 0
GPS_USART_RX
Wire Wire Line
	1150 2600 1500 2600
Wire Wire Line
	1150 2700 1500 2700
Text Label 1500 2700 0    50   ~ 0
GPS_USART_TX
Text Label 2550 3900 0    50   ~ 0
GPS_USART_RX
Wire Wire Line
	2350 3900 2550 3900
Text Label 2550 4000 0    50   ~ 0
GPS_USART_TX
Wire Wire Line
	2350 4000 2550 4000
NoConn ~ 2350 4200
NoConn ~ 2350 4300
Wire Wire Line
	1350 4100 1150 4100
Text Label 1150 4100 2    50   ~ 0
GPS_PPS
Text Label 1000 5200 2    50   ~ 0
GPS_PPS
Wire Wire Line
	1000 5200 1000 5400
$Comp
L Device:R_Small R18
U 1 1 5FCF6EEC
P 1000 5500
F 0 "R18" H 1059 5546 50  0000 L CNN
F 1 "1k" H 1059 5455 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 1000 5500 50  0001 C CNN
F 3 "~" H 1000 5500 50  0001 C CNN
	1    1000 5500
	1    0    0    -1  
$EndComp
$Comp
L Device:LED D3
U 1 1 5FCF8297
P 1000 6000
F 0 "D3" V 1039 5882 50  0000 R CNN
F 1 "LED_Yellow" V 948 5882 50  0000 R CNN
F 2 "LED_SMD:LED_0603_1608Metric" H 1000 6000 50  0001 C CNN
F 3 "~" H 1000 6000 50  0001 C CNN
	1    1000 6000
	0    -1   -1   0   
$EndComp
Wire Wire Line
	1000 5600 1000 5850
Wire Wire Line
	1000 6150 1000 6450
$Comp
L power:GND #PWR06
U 1 1 5FCFBEE0
P 1000 6450
F 0 "#PWR06" H 1000 6200 50  0001 C CNN
F 1 "GND" H 1005 6277 50  0000 C CNN
F 2 "" H 1000 6450 50  0001 C CNN
F 3 "" H 1000 6450 50  0001 C CNN
	1    1000 6450
	1    0    0    -1  
$EndComp
Wire Wire Line
	1850 4600 1850 4800
$Comp
L power:GND #PWR07
U 1 1 5FD000D5
P 1850 4800
F 0 "#PWR07" H 1850 4550 50  0001 C CNN
F 1 "GND" H 1855 4627 50  0000 C CNN
F 2 "" H 1850 4800 50  0001 C CNN
F 3 "" H 1850 4800 50  0001 C CNN
	1    1850 4800
	1    0    0    -1  
$EndComp
Text HLabel 1150 2850 0    50   Input ~ 0
~SYS_RESET
Wire Wire Line
	1150 2850 1500 2850
Text Label 1500 2850 0    50   ~ 0
~SYS_RESET
NoConn ~ 1350 4200
Text Label 1075 4300 2    50   ~ 0
~SYS_RESET
Wire Wire Line
	1075 4300 1350 4300
Wire Wire Line
	1950 3600 1850 3600
Wire Wire Line
	1850 3600 1750 3600
Connection ~ 1850 3600
Wire Wire Line
	1850 3600 1850 3425
Text Label 1850 3425 0    50   ~ 0
Vcc
Wire Wire Line
	7150 3800 7150 3600
$Comp
L Device:R_Small R28
U 1 1 5FD76F7A
P 7150 3500
F 0 "R28" H 7209 3546 50  0000 L CNN
F 1 "10k" H 7209 3455 50  0000 L CNN
F 2 "Resistor_SMD:R_0603_1608Metric" H 7150 3500 50  0001 C CNN
F 3 "~" H 7150 3500 50  0001 C CNN
	1    7150 3500
	1    0    0    -1  
$EndComp
Wire Wire Line
	7150 3400 7150 3300
Text Label 7150 3300 0    50   ~ 0
Vcc
Wire Wire Line
	6950 3800 6950 3600
Text Label 6950 3600 2    50   ~ 0
I2C_SDA
Wire Wire Line
	7250 3800 7250 3675
Wire Wire Line
	7250 3675 7450 3675
Text Label 7450 3675 0    50   ~ 0
I2C_SCL
Wire Wire Line
	7650 4300 8075 4300
Wire Wire Line
	7650 4400 7775 4400
Text Label 7775 4400 0    50   ~ 0
Vcc
$Comp
L Device:C_Small C24
U 1 1 5FD84D8A
P 8075 4400
F 0 "C24" H 8167 4446 50  0000 L CNN
F 1 "100nF" H 8167 4355 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 8075 4400 50  0001 C CNN
F 3 "~" H 8075 4400 50  0001 C CNN
	1    8075 4400
	1    0    0    -1  
$EndComp
$Comp
L Device:C_Small C25
U 1 1 5FD84FFD
P 8575 4400
F 0 "C25" H 8667 4446 50  0000 L CNN
F 1 "1uF" H 8667 4355 50  0000 L CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 8575 4400 50  0001 C CNN
F 3 "~" H 8575 4400 50  0001 C CNN
	1    8575 4400
	1    0    0    -1  
$EndComp
Wire Wire Line
	8075 4300 8575 4300
Connection ~ 8075 4300
Wire Wire Line
	8575 4300 8850 4300
Connection ~ 8575 4300
Text Label 8850 4300 0    50   ~ 0
Vcc
Wire Wire Line
	8575 4500 8325 4500
Wire Wire Line
	8325 4500 8325 4600
Connection ~ 8325 4500
Wire Wire Line
	8325 4500 8075 4500
$Comp
L power:GND #PWR0105
U 1 1 5FD8BB02
P 8325 4600
F 0 "#PWR0105" H 8325 4350 50  0001 C CNN
F 1 "GND" H 8330 4427 50  0000 C CNN
F 2 "" H 8325 4600 50  0001 C CNN
F 3 "" H 8325 4600 50  0001 C CNN
	1    8325 4600
	1    0    0    -1  
$EndComp
Wire Wire Line
	7050 3800 7050 3300
Wire Wire Line
	7050 3300 6375 3300
$Comp
L Device:C_Small C23
U 1 1 5FD8E960
P 6375 3400
F 0 "C23" H 6283 3354 50  0000 R CNN
F 1 "100nF" H 6283 3445 50  0000 R CNN
F 2 "Capacitor_SMD:C_0603_1608Metric" H 6375 3400 50  0001 C CNN
F 3 "~" H 6375 3400 50  0001 C CNN
	1    6375 3400
	-1   0    0    1   
$EndComp
Wire Wire Line
	6375 3500 6375 3600
$Comp
L power:GND #PWR0107
U 1 1 5FD90F10
P 6375 3600
F 0 "#PWR0107" H 6375 3350 50  0001 C CNN
F 1 "GND" H 6380 3427 50  0000 C CNN
F 2 "" H 6375 3600 50  0001 C CNN
F 3 "" H 6375 3600 50  0001 C CNN
	1    6375 3600
	1    0    0    -1  
$EndComp
Wire Wire Line
	6550 4200 6450 4200
Wire Wire Line
	6450 4200 6450 4300
Wire Wire Line
	6450 4300 6550 4300
Wire Wire Line
	6550 4400 6450 4400
Wire Wire Line
	6450 4400 6450 4300
Connection ~ 6450 4300
Wire Wire Line
	6450 4300 6250 4300
Wire Wire Line
	6250 4300 6250 4400
$Comp
L power:GND #PWR0111
U 1 1 5FD9783B
P 6250 4400
F 0 "#PWR0111" H 6250 4150 50  0001 C CNN
F 1 "GND" H 6255 4227 50  0000 C CNN
F 2 "" H 6250 4400 50  0001 C CNN
F 3 "" H 6250 4400 50  0001 C CNN
	1    6250 4400
	1    0    0    -1  
$EndComp
Wire Wire Line
	7050 4800 7050 4975
$Comp
L power:GND #PWR0112
U 1 1 5FD9BF1B
P 7050 4975
F 0 "#PWR0112" H 7050 4725 50  0001 C CNN
F 1 "GND" H 7055 4802 50  0000 C CNN
F 2 "" H 7050 4975 50  0001 C CNN
F 3 "" H 7050 4975 50  0001 C CNN
	1    7050 4975
	1    0    0    -1  
$EndComp
Text Label 7275 5100 0    50   ~ 0
MAG_EXT_INT
Wire Wire Line
	7250 4800 7250 5100
Wire Wire Line
	7250 5100 7275 5100
Wire Wire Line
	7150 4800 7150 5225
Wire Wire Line
	7150 5225 7275 5225
Text Label 7275 5225 0    50   ~ 0
MAG_DRDY
Text Label 1525 3025 0    50   ~ 0
MAG_DRDY
Text HLabel 1125 3025 0    50   Input ~ 0
MAG_DRDY
Wire Wire Line
	1525 3025 1125 3025
$Comp
L Connector_Generic:Conn_02x03_Odd_Even J4
U 1 1 5FE29883
P 6100 2650
F 0 "J4" H 6150 2325 50  0000 C CNN
F 1 "ESC_SERVO_HEADER" H 6150 2416 50  0000 C CNN
F 2 "Connector_PinSocket_2.54mm:PinSocket_2x03_P2.54mm_Horizontal" H 6100 2650 50  0001 C CNN
F 3 "~" H 6100 2650 50  0001 C CNN
	1    6100 2650
	-1   0    0    1   
$EndComp
Wire Wire Line
	6300 2750 6300 2875
Wire Wire Line
	6300 2875 6050 2875
Wire Wire Line
	5800 2875 5800 2750
Wire Wire Line
	6050 2875 6050 2975
Connection ~ 6050 2875
Wire Wire Line
	6050 2875 5800 2875
$Comp
L power:GND #PWR0122
U 1 1 5FE37EFA
P 6050 2975
F 0 "#PWR0122" H 6050 2725 50  0001 C CNN
F 1 "GND" H 6055 2802 50  0000 C CNN
F 2 "" H 6050 2975 50  0001 C CNN
F 3 "" H 6050 2975 50  0001 C CNN
	1    6050 2975
	1    0    0    -1  
$EndComp
Text Label 6450 2650 0    50   ~ 0
SERVO_VCC
Text Label 6450 2550 0    50   ~ 0
SERVO_SIG
Wire Wire Line
	5800 2550 5700 2550
Text Label 5700 2550 2    50   ~ 0
ESC_SIG
Wire Wire Line
	6300 2550 6450 2550
Wire Wire Line
	6300 2650 6450 2650
NoConn ~ 5800 2650
$EndSCHEMATC