Difference between revisions of "Lisa/L"

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(→‎Getting started: updated installation links)
(started to re-organize page to keep consistency (at least on newer autopilots), basing off Lisa/M_v20 page, work in progress!! Still needs pinouts, moving Getting Started and lots of additions)
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<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
 
<div style="float: right; width: 45%; overflow: hidden">[[Image:lisa_l_top.png|right|500px|Lisa/L V1.0 top view]]</div>
Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
<div style="float: right; width: 40%">__TOC__</div>
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.
 
== Description ==
Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.
 
[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]
 


Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code or advanced payload and path plannning. AN [[OMAP]]-based Gumstix [[Overo]] computer can be mounted directly to Lisa/L, with access to USB, SPI, and serial. The onboard STM32 microcontroller communicates with the Overo using a fast SPI interface. It can be used for both fixedwing and rotorcraft airframes. For links to additional documentation, please see [[Lisa|Lisa Overview page here]].


== Hardware Revision History ==
== Hardware Revision History ==
Line 17: Line 10:
!''Version #''!!''Release Date''!!''Release Notes''
!''Version #''!!''Release Date''!!''Release Notes''
|-
|-
|v1.00||???||Initial release of Lisa/L
|v1.1||???||Next release of Lisa/L
|-
|v1.0||???||Initial release of Lisa/L
|}
|}
For differences between versions, please [[Lisa/L#Detailed_Hardware_Revision_History|see below]].


== Features ==


 
Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].
== Features ==


* STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf STM32F103RE datasheet]
* STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf STM32F103RE datasheet]
Line 36: Line 32:
* ? linear regulator
* ? linear regulator
* ?x status LEDs with attached test point
* ?x status LEDs with attached test point
* 1x absolute pressure sensor (for altitude)
* 1x differential pressure sensor (for airspeed)
* Integrated JTAG debug for STM32
* 1x Gumstix Overo Mount
* 1x IMU mount
* ? grams (? oz)
* ? grams (? oz)
* dimensions
* dimensions
* 4 layers PCB design
* 4 layers PCB design


== IO ==
The Lisa/L is designed to have a Gumstix Overo mounted onboard. In addition there is an onboard location to mount an IMU. Specifically, the [[Booz/IMU|Booz IMU]] or the [[AspirinIMU|Aspirin IMU]] can be easily mounted and interfaced. There is also a low-profile mount available for the Aspiring IMU.
 
<gallery widths=360px heights=255px>
Image:lisa_l_bloc_diag_simple.png|Lisa/L simplified block diagram
Image:lisa_l_top.png|Lisa/L v1.0 top view
Image:lisa_l_bot.png|Lisa/L v1.0 bottom view
</gallery>
 
== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.
=== Lisa/L V1.1 ===
 
[[Image:LisaL-V1 1-top-labeled.png|900px]]
 
[[Image:LisaL-V1 1-back-labeled.png|643px]]
 
'''NOTE: The silkscreen on the PCB says that the 8th pin of the ADC/Spare header is PB2. This is incorrect, pin 8 is PD2.'''


Lisa-L 0.99 LED order:
Lisa-L 0.99 LED order:
Line 47: Line 64:
   red:  2,  4,  6,  0
   red:  2,  4,  6,  0


[[Image:LisaL-V1 1-top-labeled.png|700px]]


[[Image:LisaL-V1 1-back-labeled.png|500px]]
NEED PINOUT TABLES HERE!!!
 
=== Powering the Board ===


'''NOTE: The silkscreen on the PCB says that the 8th pin of the ADC/Spare header is PB2. This is incorrect, pin 8 is PD2.'''
The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector.
 
== Schematic ==
Also see the [[Lisa/L#Downloads|Downloads]] section.
 
=== Lisa/L v1.0 ===
LisaL V1.0 Schematic Sheets 1 .. 6
<gallery>
Image:LisaL_v1_0_schematic_1.png | LisaL V1.0 Schematic Sheet 1/6
Image:LisaL_v1_0_schematic_2.png | LisaL V1.0 Schematic Sheet 2/6
Image:LisaL_v1_0_schematic_3.png | LisaL V1.0 Schematic Sheet 3/6
Image:LisaL_v1_0_schematic_4.png | LisaL V1.0 Schematic Sheet 4/6
Image:LisaL_v1_0_schematic_5.png | LisaL V1.0 Schematic Sheet 5/6
Image:LisaL_v1_0_schematic_6.png | LisaL V1.0 Schematic Sheet 6/6
</gallery>
 
=== Lisa/L v1.1 ===
LisaL V1.1 Schematic Sheets 1 .. 6
<gallery>
Image:LisaL_v1_1_schematic_1.png | LisaL V1.1 Schematic Sheet 1/6
Image:LisaL_v1_1_schematic_2.png | LisaL V1.1 Schematic Sheet 2/6
Image:LisaL_v1_1_schematic_3.png | LisaL V1.1 Schematic Sheet 3/6
Image:LisaL_v1_1_schematic_4.png | LisaL V1.1 Schematic Sheet 4/6
Image:LisaL_v1_1_schematic_5.png | LisaL V1.1 Schematic Sheet 5/6
Image:LisaL_v1_1_schematic_6.png | LisaL V1.1 Schematic Sheet 6/6
</gallery>
 
LisaL V1.1 place Ppans front and back
<gallery>
Image:LisaL_v1_1_placeplan_front.png | LisaL V1.1 Placeplan Front
Image:LisaL_v1_1_placeplan_back.png | LisaL V1.1 Placeplan Back
</gallery>
 
 
== Examples of Airborne Equipment Electrical Connections ==
 
Need some examples here, see [[Lisa/M_v20#Examples_of_Airborne_Equipment_Electrical_Connections]] or [[Umarim_v10#Examples_of_Airborne_Equipment_Electrical_Connections]]
 
=== R/C Receivers ===


== Spektrum/JR remote receiver connection diagram ==
==== Spektrum/JR remote receiver connection diagram ====
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.


[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]
[[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]


== PPM Remote receiver ==
==== PPM Remote receiver ====


To use the PPM signal of a PPM remote receiver, the input pin for the signal is the Trig.pin 1 (on UART1 connector), it is hardcoded and can not be changed.  Also make sure that a bridge(~0 Ohm) in the conductor path is soldered. See below picture for the right position.
To use the PPM signal of a PPM remote receiver, the input pin for the signal is the Trig.pin 1 (on UART1 connector), it is hardcoded and can not be changed.  Also make sure that a bridge(~0 Ohm) in the conductor path is soldered. See below picture for the right position.
Line 63: Line 120:
[[Image:LisaL-V1 1-top-labeled-marked.png]]
[[Image:LisaL-V1 1-top-labeled-marked.png]]


==Getting started==
 
== PCB ==
 
=== Gerber & Drill Files  ===
 
'''''Download  Lisa/L gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
Need some generated gerbers and drill files here.
 
== Assembly ==
 
===Components Layout===
 
''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.
 
=== Bill Of Material ===
 
'''''Download  Lisa/L Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
<br>
<br>
 
== PCB and assembled boards suppliers ==
 
Available on [[Get_Hardware|Get Hardware]] page, hopefully :)
 
 
== Mechanical Dimensions ==
 
NEED LISA/L MECHANICAL DRAWING.
 
== Downloads ==
 
'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_l/ Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/L Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/L Bill Of Material
 
== JTAG ==
JTAG can be used to upload firmware through the onboard JTAG interface. It can also be used for debugging.
* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.
 
== Detailed Hardware Revision History ==
 
NEED DETAILS BETWEEN VERSIONS HERE!!!
 
----
----
=Getting Started=


* Install Gnu/Linux Ubuntu and the paparazzi-dev, paparazzi-arm-multilib packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation/Linux]] for linux, see [[Installation]] for other OSes).
* Install Gnu/Linux Ubuntu and the paparazzi-dev, paparazzi-arm-multilib packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation/Linux]] for linux, see [[Installation]] for other OSes).

Revision as of 16:04, 16 March 2012

Lisa/L V1.0 top view

Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code or advanced payload and path plannning. AN OMAP-based Gumstix Overo computer can be mounted directly to Lisa/L, with access to USB, SPI, and serial. The onboard STM32 microcontroller communicates with the Overo using a fast SPI interface. It can be used for both fixedwing and rotorcraft airframes. For links to additional documentation, please see Lisa Overview page here.

Hardware Revision History

Version # Release Date Release Notes
v1.1 ??? Next release of Lisa/L
v1.0 ??? Initial release of Lisa/L

For differences between versions, please see below.

Features

Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the high-density performance line family.

  • STM32 microcontroller (CortexM3@72Mhz) STM32F103RE datasheet
  • ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
  • 3x 3.3V TTL UART (5V tolerant)
  • 1x CAN
  • 6x PWM outputs
  • 1x R/C receiver PPM frame input (trig pin on UART1 connector)
  • 2x SPI bus
  • 2x I2C bus
  • ?x USB (client)
  • ? switching power supply
  • ? linear regulator
  • ?x status LEDs with attached test point
  • 1x absolute pressure sensor (for altitude)
  • 1x differential pressure sensor (for airspeed)
  • Integrated JTAG debug for STM32
  • 1x Gumstix Overo Mount
  • 1x IMU mount
  • ? grams (? oz)
  • dimensions
  • 4 layers PCB design

The Lisa/L is designed to have a Gumstix Overo mounted onboard. In addition there is an onboard location to mount an IMU. Specifically, the Booz IMU or the Aspirin IMU can be easily mounted and interfaced. There is also a low-profile mount available for the Aspiring IMU.

Pinout

Pins Name and Type are specified with respect to the Autopilot Board.

Lisa/L V1.1

LisaL-V1 1-top-labeled.png

LisaL-V1 1-back-labeled.png

NOTE: The silkscreen on the PCB says that the 8th pin of the ADC/Spare header is PB2. This is incorrect, pin 8 is PD2.

Lisa-L 0.99 LED order:

 green: 3,  5,  7,  1
 red:   2,  4,  6,  0


NEED PINOUT TABLES HERE!!!

Powering the Board

The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector.

Schematic

Also see the Downloads section.

Lisa/L v1.0

LisaL V1.0 Schematic Sheets 1 .. 6

Lisa/L v1.1

LisaL V1.1 Schematic Sheets 1 .. 6

LisaL V1.1 place Ppans front and back


Examples of Airborne Equipment Electrical Connections

Need some examples here, see Lisa/M_v20#Examples_of_Airborne_Equipment_Electrical_Connections or Umarim_v10#Examples_of_Airborne_Equipment_Electrical_Connections

R/C Receivers

Spektrum/JR remote receiver connection diagram

There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Lisa L V1 1 satellite receiver connection.png

PPM Remote receiver

To use the PPM signal of a PPM remote receiver, the input pin for the signal is the Trig.pin 1 (on UART1 connector), it is hardcoded and can not be changed. Also make sure that a bridge(~0 Ohm) in the conductor path is soldered. See below picture for the right position.

LisaL-V1 1-top-labeled-marked.png


PCB

Gerber & Drill Files

Download Lisa/L gerber & drill files (zip) NOT YET AVAILABLE BUT SEE Downloads Need some generated gerbers and drill files here.

Assembly

Components Layout

NOT YET AVAILABLE BUT SEE Downloads Need some top and bottom of board images and line drawings here.

Bill Of Material

Download Lisa/L Bill Of Material (zipped .xls file) NOT YET AVAILABLE BUT SEE Downloads

PCB and assembled boards suppliers

Available on Get Hardware page, hopefully :)


Mechanical Dimensions

NEED LISA/L MECHANICAL DRAWING.

Downloads

Source files

Gerber & Drill files

  • download NOT YET AVAILABLE Need generated gerbers and drill files

Assembly files

  • download NOT YET AVAILABLE Need Lisa/L Components layouts (pdf)
  • download NOT YET AVAILABLE Need Lisa/L Bill Of Material

JTAG

JTAG can be used to upload firmware through the onboard JTAG interface. It can also be used for debugging.

Detailed Hardware Revision History

NEED DETAILS BETWEEN VERSIONS HERE!!!



Getting Started

  • Install Gnu/Linux Ubuntu and the paparazzi-dev, paparazzi-arm-multilib packages and paparazzi-omap( Installation from the Command Line: on this page Installation/Linux for linux, see Installation for other OSes).
sudo apt-get update
sudo apt-get install paparazzi-dev  paparazzi-arm-multilib paparazzi-omap
  • Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
  • Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
  • Flash a test program in the stm32 :
 make AIRCRAFT=BOOZ2_A7 test_baro.upload

Overo

  • The main documentation page for the overo on gumstix website is here.
  • We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap

If you feel it's too easy, you can look at here and enjoy the fun of compiling openembedded yourself

  • In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from here and follow the instruction from here to write them on a micro sd card.

When you want the files to be downloaded en written on the SD do:

cd ~/sw/tools/overo_sd_maker/
sw/tools/overo_sd_maker
sudo ./overo_sd_maker.sh


  • Once you have written your OS image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

Install the Kermit application via:

$ sudo apt-get install ckermit

Then start up Kemit terminal application do:

$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
root@overo:~#
  • One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
  • Flash the STM32 with the link test program
 make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
  • Compile and upload the Overo test program.
 make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
  • Log on your Overo and run it

Use case #1: the fixedwing firmware running in the STM32 only

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

Use case #2: the rotorcraft firmware running in the STM32 only

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

   make AIRCRAFT=BOOZ2_A7 ap.upload

Use case #3: the lisa_passthrough firmware

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.