PaparazziUAV - User contributions [en]

Chimera/v1.00

2017-03-08T18:55:47Z

Alexandre:

{| align=right
|-
|<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: 65%">
[[Image:Chimera_v100_top_1E.JPG|500px|Chimera v1.00 top side]] 
[[Image:Chimera_v100_top_wXB.JPG|500px|Chimera v1.00 top side]]

</div>
__TOC__

== Overview ==
* STMicro '''STM32F767''' Micro Controller Unit ''(ARM Cortex-M7, 216 MHz CPU, FPU & DSP instructions, 2 Mbytes Flash, 512 Kbytes SRAM, General-purpose DMA,etc.)''
** Unlike STM32F4, FPU of STM32F767 double precision [https://en.wikipedia.org/wiki/Double-precision_floating-point_format] capable. It means double precision computation is 10 times faster on chimera than on STM32F4 based hardware
* '''9 DOF Inertial Measurement Unit'''
* '''Barometer/altimeter''' ''(I2C, IMU slave capability)''
* '''Differential Pressure Sensor for Pitot tube'''
* '''microSD card''' ''(+ dedicated power supply for emergency files closing system)''
* All connectors available both in '''standard 0.1” header and Molex Picoblade''' ''(except servos and R/C receiver, 0.1” header only)''
* '''Dedicated serial link and power supply for "Companion Computer"''' ''(Beaglebone, Raspberry, Gumstix, ...)''
* x4 status Leds + '''8 segments LED display'''
* SWD debug connector ''(STM STLink compliant header)''
* '''x8 Servos''' ''(+ '''Servos Power supply selection capabilities''': Chimera onboard power supply or external source)''
* '''x2 RC Receiver inputs''' ''(S.BUS, PPM & Spektrum Satellite compatible, including receiver binding)''
* '''x5 UARTs''' ''(including one with hardware flow control signals)''
* '''x1 I2C''' bus ''(3.3V and 5V logic level)''
* '''x1 SPI''' bus ''(with Slave Select, Master or Slave)''
* '''x1 CAN''' bus
* '''x8 auxiliary Inputs/Outputs''' spread over 2 connectors ''(x6 ADC, x6 Timers different from servos, x1 UART, x1 DAC)''
* '''XBEE modem''' holder ''(ASSO and Reset connected to MCU GPIOs)''
* '''x1 USB''' :
** ''DFU mode (download) or USB storage (direct access to MicroSD card)''
** ''micro-USB plug (+ Picoblade & 0.1” header in //)''
** ''Board can be flashed even if aircraft battery is off)''
* Controlled Powerswitch 5V supply on AUX A (AUX0 to 3) header
* '''Twin switching power supply''' :
** ''source '''2 to 6 Lipo cells''' (6 to 26v)''
** ''5v/3A for “Companion” Computer(controlled by GPIO)''
** ''5v/3A dedicated to Chimera (servos and other 5v peripherals)''
* VBat+Gnd connectors for peripheral
* 89x60mm (3.5x2.4")

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||10/2016||Initial release of Chimera
|}

== Detailed Features ==

=== MicroSD card (SDIO) ===
* software support available with '''v5.2''' and above
* hi-cap power designed to give enough time to cleanly save buffer and close file(s) when power outage detected
* USB-storage mode when plugging an USB cable after startup

=== On-board Sensors ===
* 9 DOF IMU [http://www.invensense.com/ Invensense] chip [https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/ MPU-9250] : 9 DOF, 3 axis Accelerometer + 3 axis Gyroscope + 3 axis Magnetometer
* Barometer/Altimeter [http://www.te.com/ TE Connectivity] module [http://www.te.com/usa-en/product-CAT-BLPS0036.html MS5611-01BA03] : High resolution Integrated digital pressure sensor, 10 to 1200 mbar, 24 bit ADC, I2C & SPI interface
* Differential pressure sensor / Pitot [http://www.te.com/ TE Connectivity] transducer [http://www.te.com/usa-en/product-CAT-BLPS0002.html MS4525DO-DS5AI001DP] : Digital Output Temperature and Differential Pressure sensor, Dual Sideport, 1PSI pressure range, I2C interface

=== USB Modes ===
* USB plugged before autopilot is powered : enter DFU mode to be flashed ''New ! : Can be flashed even if autopilot is not powered.''
* USB plugged after autopilot is powered : stop ap task, enter usb storage mode to made sdcard content easily avalaible, after the host has mounted;copied;dismounted storage;unplugged usb, ap restart

=== SWD: Serial Wire Debug ===
Permits flash and source level debugging via SWD part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe or [[CricketProbe/v1.00|CricketProbe]]

=== R/C Serial ===
Chimera offer '''two different R/C Receiver port''' allowing direct connection (3 pin) of several brand off-the-shelf receivers '''without hardware modification''' or external encoder board:
* RC1: '''PPM''' (Timer2 or 5 / Ch2) or '''S.BUS''' (inverted UART4 Rx) or '''Serial''' (non-inverted UART4 Rx) or Serial '''Spektrum satellite''' (non-inverted UART4 Rx + GPIO for binding procedure)
* RC2: '''S.BUS''' (inverted UART7 Rx) or '''Serial''' (non-inverted UART7 Rx) or Serial '''Spektrum satellite''' (non-inverted UART4 Rx + GPIO for binding procedure)
''(see [[RC_Receivers_and_Radios | R/C Receivers and Radios page]] for compatible receivers)''

=== Power ===
The input power source (Battery) voltage range of Chimera is '''6V to 26V''' (2 to 6 Lipo cells)

* Twin Power Supply
** one 5V/3A dedicated to Chimera, servos (see ''Servo Power Supply selection'' below) and other 5V peripheral
** one 5V/3A dedicated to "Companion Computer" available on '''UART1 connector''' ("5V Comp.",#2) '''can be switched ON and OFF''' on demand using EN_COMP (MCU GPIO output PC04).
*** EN_COMP = 1 => 5V Comp. OFF
*** EN_COMP = 0 => 5V Comp. ON (default)

* Servo Power Supply selection Chimera offer 2 options for servo power supply
** Onboard 5V, provided total current (autopilot + external 5V modules + servos) does not exceed 3A.
** External 5V source (BEC) for special servo configuration
(see [[#Servo Power options|''Servo Power options section'']] below for more information)

* Power Switch '''5V''' power output pin on '''AUX A connector''' ("5V Aux.",#2) '''can be switched ON and OFF''' on demand using APSW (MCU GPIO output PE06).
** APSW = 0 => 5V Aux OFF
** APSW = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is '''short-circuit and thermally protected'''. 
(see [http://www.ti.com/product/tps2051b TPS2051B] datasheet for recommended operation conditions)

=== Onboard Modem ===
Chimera offer two options for Modem:
* External Modem. In this case, Modem should be plugged on "UART3" serial interface connector.
* Onboard XBee module. In this case, XBee pins are connected to :
** Dout -> UART3 Rx (PD09)
** Din -> UART3 Tx (PD08)
** Asso -> GPIO (PA08)
** Reset -> GPIO (PE15) ''Note : do not use UART3 Rx and Tx signals if XBee plugged.''

=== Companion Computer ===
Chimera allows to easily connect a "Companion Computer" (Raspberry Pi, BeagleBoneBlack, Intel Edison, Odroid, etc.) to perform on-board computationally intensive tasks impossible to achieve by the autopilot alone. 
This connection is made using "UART1" connector which offer:
* Dedicated 5V/3A supply (can be switched ON and OFF on demand using EN_COMP, GPIO output PC04)
* Serial interface UART1 Rx (PB07) & Tx (PB06) for fast communication

=== Communication Buses ===
* UART/Serial 5 UART serial communication:
** x1 with hardware flow control signals (UART 2)
** x1 for GPS receiver (UART 3)
** x1 (free if no) modem XBee (UART8)
** x1 (free if no) “Companion Computer” (UART1)
** x1 free on AUX B connector (UART 6)

* I2C Bus I2C2 interface (SDA2-PB11 and SCL2-PB10) is available in two voltage levels to allow connection of various types of external sensors:
** 3.3V Logic ("I2C2 3V3" 2x 0.1" header and 2x Molex Picoblade connectors in //)
** 5V Logic ("I2C2 5V" 1x 0.1" header and 1x Molex Picoblade connectors in //)
''Note: for testing purpose, I2C1 internal bus signals dedicated to IMU and IMU Slave I2C Bus dedicated to Barometer and Differential pressure sensor are available on 4 pads (or 4 pin MolexPicoblade connector if populated) next to the IMU.''

* SPI Bus SPI1 interface (MOSI1-PB5 MISO1-PB4 SCK1-PB3 NSS1-PA15) is available on "SPI1" connector. If more than one selection signal (NSS1) is needed, use auxiliary pins (AUX0 to AUX7) configured as GPIO output

* CAN Bus

=== LEDs & Display ===
* 4x Leds classical paparazzi state diplay
* 1x 7 segment (plus dot) Led digit for extended mode display

== Pictures ==
<gallery>
Image:Chimera_v100_top_1E_woXB_1.JPG
Image:Chimera_v100_top_1E_woXB_2.JPG
Image:Chimera_v100_woXB_1.JPG
Image:Chimera_v100_woXB_2.JPG
Image:Chimera_v100_woXB_3.JPG
Image:Chimera_v100_woXB_4.JPG
Image:Chimera_v100_woXB_5.JPG
Image:Chimera_v100_woXB_6.JPG
Image:Chimera_v100_picoblade_1.JPG
Image:Chimera_v100_picoblade_2.JPG
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the Autopilot Board''

=== General Pinout ===
[[Image:Chimera_v100_pinout_general.png|1200px|Chimera v1.00 general pinout]]
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 (Companion)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V Comp.||PWR||Controlled by PC5||5V/3A specific for Companion Computer (PC5 = LOW => ON (default, pulldown) / PC5 = High => OFF)
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX1||IN||PB7||UART1 Serial Input (3.3V level, 5V tolerant)
|-
|5||style="background:blue; color:white"|TX1||OUT||PB6||UART1 Serial Output (3.3V level)
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX2||IN||PD6||UART2 Serial Input (3.3V level, 5V tolerant)
|-
|5||style="background:blue; color:white"|TX2||OUT||PD5||UART2 Serial Output (3.3V level)
|-
|6||style="background:Grey; color:white"|RTS2||OUT||PD4||UART2 Flow Control Request to Send (3.3V level)
|-
|7||style="background:purple; color:white"|CTS2||IN||PD3||UART2 Flow Control Clear to Send (3.3V level, 5V tolerant)
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 (Modem)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX3||IN||PD9||UART3 Serial Input (3.3V level, 5V tolerant) '''DO NOT USE''' if XBee module present on Chimera
|-
|5||style="background:blue; color:white"|TX3||OUT||PD8||UART3 Serial Output (3.3V level) '''DO NOT USE''' if XBee module present on Chimera
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART8 (GPS Receiver)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:green; color:white"|RX8||IN||PE0||UART8 Serial Input (3.3V level, 5V tolerant)
|-
|5||style="background:blue; color:white"|TX8||OUT||PE1||UART8 Serial Output (3.3V level)
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2 (3V3)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''3.3V level''', 1.5k pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''3.3V level''', 1.5k pull-up)
|}
''Note: 2 x Molex Picoblade and 2 x 0.1" Header are all in parallel''
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2 (5V)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|SDA2||Open Drain I/O||PB11||I2C2 bus Serial DAta ('''5V level''', 3.3k pull-up)
|-
|5||style="background:blue; color:white"|SCL2||Open Drain I/O||PB10||I2C12 bus Serial CLock ('''5V level''', 3.3k pull-up)
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||style="background:sienna; color:white"|NSS1||OUT||PA15||Slave Select. Selects the SPI slave
|-
|5||style="background:Grey; color:white"|MOSI1||I/O||PB5||SPI1 Master Out Slave In. Data output from master / data input to slave
|-
|6||style="background:Green; color:white"|MISO1||I/O||PB4||SPI1 Master In Slave Out. Data input to master / data output from slave
|-
|7||style="background:Yellow; color:black"|SCK1||I/O||PB3||SPI1 Serial clock. Clock output from master or input to slave
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX A'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V Aux||PWR||Controlled by PC4||5V from autopilot through Power Switch (PC4 = LOW => OFF / PC4 = High => ON)
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||AUX0||I/O||PA5||General Purpose I/O / ADC1+2 in5 / DAC2 / TIM2 ch1
|-
|5||AUX1||I/O||PA3||General Purpose I/O / ADC1+2+3 in3 / TIM2 ch4 / TIM5 ch4 / TIM9 ch2
|-
|6||AUX2||I/O||PA2||General Purpose I/O / ADC1+2+3 in2 / TIM2 ch3 / TIM5 ch3 / TIM9 ch1
|-
|7||AUX3||I/O||PA0||General Purpose I/O / ADC1+2+3 in0 / TIM2 ch1 / TIM5 ch1
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX B'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|4||AUX4||I/O||PC3||General Purpose I/O / ADC1+2+3 in13
|-
|5||AUX5||I/O||PC2||General Purpose I/O / ADC1+2+3 in12
|-
|6||AUX6||I/O||PC6||General Purpose I/O / TIM3 ch1 / TIM8 ch1 / UART6 Tx
|-
|7||AUX7||I/O||PC7||General Purpose I/O / TIM3 ch2 / TIM8 ch2 / UART6 Rx
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||style="background:Yellow; color:black"|CANH||I/O||-||CAN bidirectional + line
|-
|4||style="background:Green; color:white"|CANL||I/O||-||CAN bidirectional - line
|}
''Note: Embedded 120R terminator resistor.''
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:green; color:white"|USB+||I/O||PA12||USB bidirectional D+ line
|-
|3||style="background:white; color:black"|USB-||I/O||PA11||USB bidirectional D- line
|-
|4||style="background:orange; color:white"|VBUS||IN||PA9||Indicates the presence of USB bus power (5V level), DFU or USB storage Mode selection (BOOT0 MCU pin)
|}
''Note: MicroUSB, Molex Picoblade and 0.1" Header USB connectors are in parallel, only one can be connected at a time.''
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD (Serial Wire debug)'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:red; color:white"|+3.3V||PWR||-||3.3V Rail from autopilot
|-
|2||style="background:blue; color:white"|SWCLK||IN||PA14||SWD Serial Clock
|-
|3||style="background:black; color:white"|GND||PWR||-||common ground
|-
|4||style="background:sienna; color:white"|SWDIO||I/O||PA13||SWD Serial Data
|-
|5||RST||IN||NRST||MCU Reset
|-
|6||NC||-||-||Not connected, for STM ST-LINK/V2 connector compliance
|}
''Note: Pin to pin compatible with STM ST-LINK/V2 debug tool connector''
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Out'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||common ground use only to power peripheral modules, '''DO NOT''' use as power supply input for autopilot
|-
|2||style="background:Red; color:white"|VBAT||PWR||+ Rail from battery use only to power peripheral modules, '''DO NOT''' use as power supply input for autopilot
|}
 


=== R/C Receivers and Servos header pinout ===
[[Image:Chimera_v100_pinout_RC_&_Servos.png|1200px|Chimera v1.00 R/C Receivers and Servos header pinout]]
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''RC Receiver 1'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||RC1||I/O||PA1||Serial (SBUS, Spektrum, etc.) or PPM Stream RC receiver signal (5V Tolerant) UART4 Rx / TIM2 ch2 / TIM5 ch2
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''RC Receiver 2'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:Orange; color:white"|+5V||PWR||-||5V Rail from autopilot
|-
|3||RC1||IN||PE7||Serial (SBUS, Spektrum, etc.) RC receiver signal (5V Tolerant) UART7 Rx
|}
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Servo 0/1/2/3/4/5/6/7'''
!width="5%"|''Pin #''!!width="8%"|''Name''!!width="8%"|''Type''!!width="10%"|''MCU Port''!!''Description''
|-
|1||style="background:black; color:white"|GND||PWR||-||common ground
|-
|2||style="background:OrangeRed; color:white"|+5V Servo||PWR||-||5V Rail for Servos
|-
|3||SRV0 SRV1 SRV2 SRV3 SRV4 SRV5 SRV6 SRV7||OUT||PA6 PA7 PB0 PB1 PD12 PD13 PD14 PD15||Servo signal (PWM)
|}
 


=== Servo Power options ===
There is two options to supply connected servos. 
''Note : Whatever option is chosen, autopilot's ground already connected to servomotor's ground.'' 

==== Powering Servos with Autopilot ====
This option can be used provided total current from 5V rail (autopilot + external 5V modules + servos) does not exceed 3A. 
In this case, 5V servo rail must be connected to autopilot 5V rail as described below. 

[[Image:Chimera_v100_autopilot_servo_powering.png|1000px|Chimera v1.00 : Powering Servos with 5V Autopilot Rail]] 

'''''Warning''': make sure shunt current rating exceed servos total consumption'' 
A practical way of making this connection is to use a 2 or 3 way shunt like Samtec's MNT-103-BK-G (3.9A/pin)

[[Image:Chimera_v100_servo_shunt.png|200px|Chimera v1.00 servo supply shunt example]]
[[Image:MNT-103-BK-G.png|100px|Samtec 3 way Shunt MNT-103-BK-G]] 

==== Powering Servos using an external BEC/Power Source ====
This option must be used if total current from 5V rail may exceed 3A or for other special servo configuration. 

[[Image:Chimera_v100_external_servo_powering.png|1000px|Chimera v1.00 : external source servo powering diagram]] 

== Schematic ==
[[Image:Chimera_v100_schematic.png|left|1200px|Chimera v1.00 Schematic]]
 

== Board production ==

=== Gerber & Drill for PCB ===
PCB design [http://www.eurocircuits.com/PCB-design-guidelines/#classification Eurocircuits 6-C class] compliant:
:'''''[[Media:Chimera_v100_gerber.zip|Download Chimera v1.00 PCB production files (zip)]]'''''

:RS274X, units = Inches, format = 2:5
:*Chimera_v100_Silkscreen_TOP.GBR (Top Component Print Layer)
:*Chimera_v100_Soldermask_Top.GBR (Top Solder Mask)
:*Chimera_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*Chimera_v100_Signal_Top.GBR (Top Copper Layer)
:*Chimera_v100_Internal_Plane_1.GBR (Internal Copper Layer GND)
:*Chimera_v100_Internal_Plane_2.GBR (Internal Copper Layer +3.3V)
:*Chimera_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*Chimera_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*Chimera_v100_Outline.GBR (Board Outline)
:*Chimera_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)


=== Bill Of Material ===
:'''''[[Media:Chimera_v100_BoM.zip |Download Chimera v1.00 Bill of Material (zipped LibreOffice Calc & PDF file)]]'''''

=== Components Layout ===
<gallery>
Image:Chimera_v100_components_layout_noXB_noDP.png|Chimera v1.00 components Layout (no Xbee modem & no differential pressure sensor)
Image:Chimera_v100_components_layout_XB_DP.png|Chimera v1.00 components Layout
Image:Chimera_v100_components_detail.png|Chimera v1.00 components detail
</gallery>

=== Pick-and-Place ===
:'''''[[Media:Chimera v100_pick_place.zip|Download Chimera v1.00 Pick-and-Place files (zip)]]'''''

:* Chimera_v100_pick_place.csv
:* Chimera_v100_pick_place.pik
:* Chimera_v100_pick_place.txt


== Mechanical Dimensions ==

[[Image:Chimera_v100_top_mechanical_dimensions.png|800px|Apogee v1.00 Top Mechanical Dimensions]] 

== Programming ==
Chimera autopilot can reprogrammed in two different ways:

* Using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB connectors (so pre-loading an "external" bootloader is useless)
** required hardware : USB cable with USB-micro connector
** required software : dfu_util tool (present in ubuntu repository)
* Using the SWD (Serial Wire Debug) connector
** required hardware : SWD part of a cheap stm32 evaluation board (any discovery board, start @ 8$), 2.54mm pitch pin-to-pin cable and USB cable with USB-mini or micro connector matching your evaluation board
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

== On-board Data Logging ==
It is possible to write data on the embedded SD card from the main autopilot program. In order to cope with a real-time constraints of the autopilot, a light RTOS called [http://http://www.chibios.org ChibiOS] is used to split the logging task from the rest of the system. Two modules are necessary to enable the logging system: the driver of the SD card system that also handle the file system (using FATFS) and a dynamic memory allocation system called TLSF.
In order to enable this features for your Chimera board, you need to select the correct board type and add the required modules to the firmware section of your airframe file (logging is currently only available for '''fixedwing''' firmware):

<firmware name="firmware">
...
<target name="ap" board="chimera_1.0">
...
</target>
...
<module name="tlsf"/>
<module name="logger" type='sd_chibios"/>
</firmware>

This will active the automatic opening of a new log file (30 seconds) after each startup of the autopilot. Then you can freely write ASCII or binary data into this file (see a simple example logging for [https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/meteo/mf_ptu.c meteorological data logging]).
The file is '''automatically''' closed upon battery disconnection, no need to press any button to stop the logging.

To recover the data on the SD card, just power up the board '''without''' the USB plugged (otherwise it will enter in DFU boot mode), then plug the USB cable to the board and to your computer. This will stop the main autopilot program and will mount the SD card as a regular mass storage with a FAT file system. The log files are placed in a PPRZ folder. Unplugging the USB will reset the autopilot.

In addition to this, you can also load a [http://docs.paparazziuav.org/latest/module__flight_recorder.html '''flight recorder''' module] (it also needs the '''pprzlog''' module for supporting the specific paparazzi binary log format).

<firmware>
...
<module name="pprzlog"/>
<module name="flight_recorder"/>
...
</firmware>

with the appropriate telemetry file (conf/telemetry/fixedwing_flight_recorder.xml). This will automatically open a second file where telemetry messages described in the FlightRecorder section of the telemetry file will be logged in [[Data_Logger#Storage_format|binary format]]. The files are store in a separated FR folder on the SD card. The decoding procedure is the same than [[Openlog#Decoding|OpenLog]] and is using the '''sd2log''' tool:

~/paparazzi/sw/logalizer/sd2log [log_file] [optinal_output_dir]

This will produce 3 files: a ''.log'' and a ''.data'' files similar to the normal [[Logs|ground station log]] and ''.tlm'' file that is a simple copy of the binary file (but rename with the same base name than the two others).

== Debugging ==

=== Debugging with STM Discovery ST-LINK/V2 embedded debug tool ===
[[Image:SWD_Discovery_to_Chimera.png|Chimera debugging with Discovery dev board]]

=== Debugging with [[CricketProbe/v1.00 | CricketProbe]] ===
[[Image:SWD_CricketProbe_to_Chimera.png|800px|Chimera debugging with CricketProbe]]

== Source code ==
Available in latest git master branch.

== Where to Buy ==
Check availability on [[Get_Hardware|Get Hardware]] page

[[Category:Autopilots]]

Apogee/v1.00

2015-06-30T13:58:08Z

Alexandre:

CricketProbe/v1.00

2015-06-24T09:36:28Z

Alexandre:

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

==== OSH Park PCB ====

If you like to order from the OSH Park PCB pooling service, there is a project you can order: [https://oshpark.com/shared_projects/QRwGK8jt CricketProbe v1.00 OSH Park]

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of black magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

You will need the same cross compiler as used by paparazzi, so, if you already use paparazzi,
this point is already done. This procedure assume that your are using a linux box. For a macosx
gear, it will be different, feel free to complete the wiki if you know how to do the job from a mac.

Get and compile source from GitHub:

git clone https://github.com/gsmcmullin/blackmagic.git
cd blackmagic
git submodule init
git submodule update
make

Flash the bootloader via a STLink (all STM32 Discovery boards provide one onboard) with [[STLink| st-flash]] onto the criquet MCU:

# remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)
# wire discovery SWD connector to criquet probe (cf upper shematic) (disco-swdio => criquetprobe-rx ; disco-swclk => criquetprobe-tx ; ground connected)
# plug discovery on an usb port on your computer
# load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000
# unplug the discovery (and don't forget to put back the jumpers if you want to use it again as a discovery board)

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware.

=== Firmware Upgrade ===

This requires an functional bootloader (see previous chapter).

# cd the rootdir of previously downloaded git repository
# maintain the small black button of the criquet probe while connecting it to computer via usb.
# the red led should be flashing, indicating that the criquet wait for firmware upload
# sudo ./scripts/stm32_mem.py src/blackmagic.bin
# unplug and replug usb

should be done

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2015-06-24T09:34:30Z

Alexandre: add sudo for the flashing command

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

==== OSH Park PCB ====

If you like to order from the OSH Park PCB pooling service, there is a project you can order: [https://oshpark.com/shared_projects/QRwGK8jt CricketProbe v1.00 OSH Park]

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of black magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

You will need the same cross compiler as used by paparazzi, so, if you already use paparazzi,
this point is already done. This procedure assume that your are using a linux box. For a macosx
gear, it will be different, feel free to complete the wiki if you know how to do the job from a mac.

Get and compile source from GitHub:

git clone https://github.com/gsmcmullin/blackmagic.git
cd blackmagic
git submodule init
git submodule update
make

Flash the bootloader via a STLink (all STM32 Discovery boards provide one onboard) with [[STLink| st-flash]] onto the criquet MCU:

# remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)
# wire discovery SWD connector to criquet probe (cf upper shematic) (disco-swdio => criquetprobe-rx ; disco-swclk => criquetprobe-tx ; ground connected)
# plug discovery on an usb port on your computer
# load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000
# unplug the discovery (and don't forget to put back the jumpers if you want to use it again as a discovery board)

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware.

=== Firmware Upgrade ===

This requires a already flashes bootloader (see previous chapter).

# cd the rootdir of previously downloaded git repository
# maintain the small black button of the criquet probe while connecting it to computer via usb.
# the red led should be flashing, indicating that the criquet wait for firmware upload
# sudo ./scripts/stm32_mem.py src/blackmagic.bin
# unplug and replug usb

should be done

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2015-02-26T14:09:34Z

Alexandre: add tips for initial bootloader flash, for criquet probe or devboardm4 with criquet probe embedeed

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://www.blacksphere.co.nz Black Sphere Technologies] [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

==== OSH Park PCB ====

If you like to order from the OSH Park PCB pooling service, there is a project you can order: [https://oshpark.com/shared_projects/QRwGK8jt CricketProbe v1.00 OSH Park]

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of black magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

You will need the same cross compiler as used by paparazzi, so, if you already use paparazzi,
this point is already done. This procedure assume that your are using a linux box. For a macosx
gear, it will be different, feel free to complete the wiki if you know how to do the job from a mac.

Get and compile source from GitHub:

git clone https://github.com/gsmcmullin/blackmagic.git
cd blackmagic
git submodule init
git submodule update
make

Flash the bootloader via a STLink (all STM32 Discovery boards provide one onboard) with [[STLink| st-flash]] onto the criquet MCU:

# remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)
# wire discovery SWD connector to criquet probe (cf upper shematic) (disco-swdio => criquetprobe-rx ; disco-swclk => criquetprobe-tx ; ground connected)
# plug discovery on an usb port on your computer
# load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000
# unplug the discovery (and don't forget to put back the jumpers if you want to use it again as a discovery board)

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware.

=== Firmware Upgrade ===

This requires a already flashes bootloader (see previous chapter).

# cd the rootdir of previously downloaded git repository
# maintain the small black button of the criquet probe while connecting it to computer via usb.
# the red led should be flashing, indicating that the criquet wait for firmware upload
# ./scripts/stm32_mem.py src/blackmagic.bin
# unplug and replug usb

should be done

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2014-05-28T14:21:07Z

Alexandre: /* Firmware Upgrade */

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://http://www.blacksphere.co.nz Black Sphere Technologies] [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of black magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

° You will need the same cross compiler as used by paparazzi, so, if you already use paparazzi,
this point is already done. This procedure assume that your are using a linux box. For a macosx
gear, it will be different, feel free to complete the wiki if you know how to do the job from a mac.

° get and compile source :
git clone https://github.com/gsmcmullin/blackmagic.git

cd blackmagic ;
git submodule init ;
git submodule update ;
make

at this point, the bootloader and the debugging firmware are compiled.

Well will use the stlink part of a stm32 discovery (all stm32 discovery will be good to do the job)
to program the bootloader :

° remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)

° wire discovery SWD connector to criquet probe (cf upper shematic)

° plug discovery on an usb port on your computer

° load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000

° unplug the discovery (and don't forget to put back the jumpers if you want to use it again as a discovery board)

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware

=== Firmware Upgrade ===

Here we assume that the bootloader is already flashed on the criquet probe (see previous chapter)

° cd the rootdir of previously downloaded git repository

° maintain the small black button of the criquet probe while connecting it to computer via usb.

° the red led should be flashing, indicating that the criquet wait for firmware upload

° sudo ./scripts/stm32_mem.py src/blackmagic.bin

° unplug and replug usb

should be done

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2014-05-28T14:13:03Z

Alexandre: /* Getting, compiling flashing firmware */

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://http://www.blacksphere.co.nz Black Sphere Technologies] [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of black magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

° You will need the same cross compiler as used by paparazzi, so, if you already use paparazzi,
this point is already done. This procedure assume that your are using a linux box. For a macosx
gear, it will be different, feel free to complete the wiki if you know how to do the job from a mac.

° get and compile source :
git clone https://github.com/gsmcmullin/blackmagic.git

cd blackmagic ;
git submodule init ;
git submodule update ;
make

at this point, the bootloader and the debugging firmware are compiled.

Well will use the stlink part of a stm32 discovery (all stm32 discovery will be good to do the job)
to program the bootloader :

° remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)

° wire discovery SWD connector to criquet probe (cf upper shematic)

° plug discovery on an usb port on your computer

° load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000

° unplug the discovery (and don't forget to put back the jumpers if you want to use it again as a discovery board)

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware

=== Firmware Upgrade ===

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

CricketProbe/v1.00

2014-05-28T14:07:43Z

Alexandre: /* "Factory" (Bootloader) Programming */

The CricketProbe is a debugging tool for ARM Cortex Microprocessors. 
It is a [http://http://www.blacksphere.co.nz Black Sphere Technologies] [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe] PCB re-design, with some improvements made to the connectors, and is fully software-compatible. 

[[Image:CricketProbe_v100.jpg|right|400px|CricketProbe v1.00]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00 (current)||04/2014||Initial release
|-
|v0.00||02/2014||Prototype
|}

== Detailed Features ==
Fully compatible with the [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe], the features are identical: 
''(following is a copy of [http://http://www.blacksphere.co.nz/main/blackmagic Black Magic Probe]'s webpage)''
:* Aimed at ARM Cortex based microcontrollers.
:* Allows direct connection to the targeted processors JTAG interface. Alternatively, you may use the ARM Serial Wire Debug protocol as well.
:* Full debugging functionality is provided. This includes: watchpoints, flash memory breakpoints, memory and register examination, flash memory programming, etc.
:* Multiple targets on a single JTAG scan chain is supported.
:* Interface to the host computer is a standard USB CDC ACM device (a virtual serial port), which does not require special drivers on Linux.
:* Implements the GDB extended remote debugging protocol for seamless integration with the GNU debugger and other GNU development tools.
:* Implements USB DFU class for easy firmware upgrades (as updates become available).
:* Windows, Linux and Mac environments supported.

This board allows you to:

:* Load your application into the target processor Flash memory or RAM.
:* Single step through your program.
:* Run your program in real-time with halt on demand.
:* Examine and modify CPU registers and memory.
:* Obtain a call stack backtrace.
:* Set up to 6 hardware assisted breakpoints.
:* Set up to 4 hardware assisted read, write or access watchpoints.
:* Set unlimited software breakpoints when executing your application from RAM.

== Pictures ==

<gallery>
Image:CricketProbe_v100_side.jpg|Side view
Image:CricketProbe_v100_top.jpg|Top view
Image:CricketProbe_v100_bottom.jpg|Bottom view
Image:CricketProbe_v100_bottom_wo_header.jpg|Bottom view w/o header
</gallery>

== Pinout ==
''Pins Name and Type are specified with respect to the CricketProbe Board''

[[Image:CricketProbe_v100_pinout.png]]

== Schematic ==
[[Image:CricketProbe_v100_schematic.png|left|900px|CricketProbe v1.00 Schematic]]
 

== PCB ==

=== Gerber & Drill Files ===

2 Layers PCB design [http://www.eurocircuits.com/images/stories/ec09/ec-classification-english-1-2010-v2.pdf Eurocircuits 6-C class] compliant:

'''''[[Media:CricketProbe_v100_gerber_files.zip|Download CricketProbe v1.00 gerber & drill files (zip)]]'''''

RS274X, units = Inches, format = 2:5

:*CricketProbe_v100_Silkscreen_Top.GBR (Top Print Layer)
:*CricketProbe_v100_Soldermask_Top.GBR (Top Solder Mask)
:*CricketProbe_v100_Paste_Mask_Top.GBR (Top Paste Mask, stencil)
:*CricketProbe_v100_Signal_Top.GBR (Top Copper Layer)
:*CricketProbe_v100_Signal_Bottom.GBR (Bottom Copper Layer)
:*CricketProbe_v100_Soldermask_Bottom.GBR (Bottom Solder Mask)
:*CricketProbe_v100_Silkscreen_Bottom.GBR (Bottom Print Layer)
:*CricketProbe_v100_Outline.GBR (Board Outline)
:*CricketProbe_v100_Drill.GBR (NC XY coordinates & Drill tools sizes)

== Assembly ==

===Components Layout===

<gallery>
Image:CricketProbe_v100_2D_top_components.png|CricketProbe v1.00 top components Layout
Image:CricketProbe_v100_2D_bottom_components.png|CricketProbe v1.00 bottom components Layout
Image:CricketProbe_v100_top_components.png|CricketProbe v1.00 top components detail
Image:CricketProbe_v100_bottom_components.png|CricketProbe v1.00 bottom components detail
</gallery>

=== Bill Of Material ===

'''''[[Media:CricketProbe_v100_BoM.zip|Download CricketProbe v1.00 Bill of Material (zipped .xls file)]]'''''
 
 

=== PCB and assembled boards suppliers ===

Check availability on [[Get_Hardware|Get Hardware]] page

== Mechanical Dimensions ==
[[Image:CricketProbe_v100_top_mechanical_dimensions.png|500px|CricketProbe v1.00 Top Mechanical Dimensions]]

== Programming ==

=== "Factory" (Bootloader) Programming ===
[[Image:CricketProbe_bootloader_programming_with_discovery.png|800px|CricketProbe v1.00 connection diagram for factory bootloader flashing]]

== Getting, compiling flashing firmware ==

Since the criquet probe is an accurate copy of bmack magic probe,
the black magic probe documentation applies.

Here is an abstract of the software installation.

° You will need the same cross compiler as used by paparazzi, so, if you allready use paparazzi,
this point is already done.

° get and compile source :
git clone https://github.com/gsmcmullin/blackmagic.git

cd blackmagic ;
git submodule init ;
git submodule update ;
make

at this point, the bootloader and the debugging firmware are compiled.

Well will use the stlink part of a stm32 discovery (all stm32 discovery will be good to do the job)
to program the bootloader :

° remove the two programming jumper on the discovery card (refer to the discovery card stm32 documentation)

° wire discovery SWD connector to criquet probe (cf upper shematic)

° load the bootloader : st-flash write ./src/blackmagic_dfu.bin 0x08000000

Still need one step to have a useful device, see on next chapter how to program black magic gdb client firmware

=== Firmware Upgrade ===

== Hardware Source Files ==

== Source code ==

[[Category:Hardware]]

Apogee/v1.00

2013-07-24T13:35:55Z

Alexandre: /* SWD: Serial Wire Debug */

Apogee/v1.00

2013-07-24T13:32:23Z

Alexandre: /* USB Modes */

Apogee/v1.00

2013-07-24T13:09:58Z

Alexandre: /* Real Time Clock */

Apogee/v1.00

2013-07-24T13:04:59Z

Alexandre: /* SDIO (MicroSD card) */

Apogee/v1.00

2013-07-24T12:59:04Z

Alexandre: /* USB Modes */

Apogee/v1.00

2013-07-24T11:54:51Z

Alexandre: /* SDIO (MicroSD card) */

Apogee/v1.00

2013-07-24T11:31:48Z

Alexandre: /* SDIO (MicroSD card) */

Apogee/v1.00

2013-07-24T11:28:36Z

Alexandre: /* Programming */

Installation/Linux

2011-09-09T16:11:01Z

Alexandre: rules file name fix

== Introduction ==

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux] or even Apple Macintosh running [[InstallationMacOSX|Mac OS X]].

At a high-level here are the steps required to install Paparazzi:
<ul>
<li>Install a current Ubuntu Linux distribution.
<li>The Paparazzi packages are installed using Synaptic Package Manager.
<li>Download the sources from the git repository.
<li>Allow access to the ports by copying the [http://www.openuas.org/pub/writing_udev_rules.html rules file]: (export PAPARAZZI_HOME=~/paparazzi; export PAPARAZZI_SRC=~/paparazzi; sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/)
<li>Compile the binaries from the sources (cd paparazzi && make)
</ul>

That's all.

=== Operating System ===

Paparazzi is very easily installed on any laptop or workstation running the [http://www.ubuntu.com/ Ubuntu Linux OS] or virtually any [http://www.debian.org/ Debian] based [http://en.wikipedia.org/wiki/Linux Linux]. Paparazzi is packaged for Debian as well as all of its dependencies. The [http://paparazzi.enac.fr/debian repository] hosted at ENAC holds their latest version.

It is also possible to have your Debian/Ubuntu running in a virtual machine, for instance with [http://www.virtualbox.org/ VirtualBox]. This requires minimal changes to your computer setup, as you can run the VM from all common platforms (Windows, [http://paparazzi.enac.fr/wiki/InstallationMacOSX OS X], Linux). The virtual machine image can easily be transferred between different laptops, giving greater flexibility. Unfortunately, the Open-Source Edition of VirtualBox doesn't include the necessary USB support, so you'll need to get the regular version from the website.

If you are new and this is your first time installing it is suggested you keep it simple. Select a system you can dedicate to the Linux installation. No VMs or dual boot configurations. The idea is do a very simple generic installation that is certain to have no issues. This reassures you that the installation process works and you can see and use a working Paparazzi install for some time before you try a more complicated install. The install is well documented below and certain to succeed if followed exactly. Most issues arise when someone unfamiliar with Linux tries a non-standard install that requires special steps not documented here.

=== Compilers and Handlers ===

The typical installation contains all of the necessary C and OCaml compilers as well as some XML and [http://www.tls.cena.fr/products/ivy/ Ivy] handlers. These tools are provided by the ''paparazzi-dev'' package. Have no fear, this is all taken care of for you so all you must do is type a few simple commands. Below are those commands and helpful information. Commands can be copied and pasted from these pages to make it as easy as possible.

=== Source Code ===

The Paparazzi source code is hosted by [https://github.com/paparazzi/paparazzi Github]. It is downloaded using [[git]].

== Installation of Compilers and Handlers ==

=== Using Synaptic Package Manager ===
* Launch ''Synaptic Package Manager'' (Menu '''System/Administration''')
* In '''Settings/Repositories''', add a new repository (Software Source) in the tab '''Other Software''': APT line: <tt>deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main</tt> This APT line works for Ubuntu Natty/11.04. For other Ubuntu versions adapt as described below in the command line section.
* Search for <tt>paparazzi-dev</tt>, <tt>paparazzi-arm7</tt> and <tt>paparazzi-stm32</tt> packages (use the ''Search'' button)
* Mark them for installation (right-click on package names)
* Left-click on ''Apply''

=== From the Command Line ===

If the Synaptic Package Manager doesn't work for you, you can alternatively use the command line:

For the sources file (sources.list) you only add the line required for your version. Linux names their versions.

Just add the following lines to your repository list (/etc/apt/sources.list) and then
uncomment the line relevant to your operating system (e.g. one of etch, gutsy or hardy):

Note: Because of the sources.list file permissions maybe you will need to edit it with root access. In Terminal write this:

gksudo gedit /etc/apt/sources.list

{{Box Code|/etc/apt/sources.list|
# Uncomment just _one_ of the following lines - depending on your OS version
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> etch main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> lenny main
# deb <nowiki>http://paparazzi.enac.fr/debian</nowiki> squeeze main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> gutsy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> hardy main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> intrepid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> jaunty main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> karmic main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> lucid main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> maverick main
# deb <nowiki>http://paparazzi.enac.fr/ubuntu</nowiki> natty main
}}

Then, update your sources and install the dependencies needed for recompiling from the source (dev), and the cross-compilers (arm7, stm32 or both) :

For ARM7 (i.e. Tiny or TWOG boards) :
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-arm7
-- or newerdays --
sudo apt-get install paparazzi-dev paparazzi-lpc21

For STM32 (i.e. Lisa boards) :
sudo apt-get update
sudo apt-get install paparazzi-dev paparazzi-stm32

==== Obsolete Packages ====
Users of the older AVR based boards will also need the paparazzi-avr package. It is unlikely you need it.

==== Older Ubuntu Versions ====

On older Linux distributions (not needed for lucid and later), the Braille TTY driver interferes with FTDI USB Serial adapters. If somehow your FTDI serial adapter does not work, remove the package via:

sudo apt-get remove brltty

=== Manual Installation of Individual Packages ===
Users of other Linux flavors than a recent Ubuntu or anyone needing manual control of each individual package can [[Manual_Installation|install them independently]].

== Downloading the Source Code ==
The complete source code should be downloaded from the paparazzi software repository on Github. Make sure you have installed the <tt>paparazzi-dev</tt> package as described above. Whithout these you will not be able to compile the sourcecode.

See the [https://github.com/paparazzi/paparazzi project page] at Github for more details. From the directory of your choice type:
git clone git://github.com/paparazzi/paparazzi.git
or if you are behind a firewall with an http proxy available:
git clone https://github.com/paparazzi/paparazzi.git

This will download all of the paparazzi sourcecode need for an autopilot to work into the directory <tt>paparazzi/</tt>

'''If this whole "Git" thing is new to you an you are curious, more options and information can be found on the [[git]] page.'''

== Launching the Software ==

The first step is to compile. From the <tt>paparazzi</tt> directory (<tt>cd paparazzi</tt>), run

make

You will have to run this command after each update of the source (<tt>git pull</tt> command).
Launch the software from the <tt>paparazzi</tt> directory with

./paparazzi

From the [[Paparazzi_Center|Paparazzi Center]] interface, select the ''Microjet'' aircraft, select the ''sim'' target and ''Build'' it. Then ''Execute'' the ''Simulation'' session. The procedure is detailed in the [[Simulation]] page.

=== Quick Launch Icon ===

To create an icon on the desktop so you don’t have to manually type codes into the Terminal each time you want to start the Paparazzi Center follow these steps:

#Save [[Media:Paparazzi_logo.png|this image file]] to your /paparazzi folder
#Right click anywhere on the Ubuntu desktop and click Create Launcher.
#Enter the following in the fields provided:
#*Name: Paparazzi Center
#*Command: /home/YOUR_USER_NAME/paparazzi/paparazzi
#*Comment: Runs the Paparazzi Center
#*Then click the icon image in the top left on the dialog box and select the Paparazzi logo you just downloaded.
#Click the OK button and that’s it! Your icon should appear on the desktop and you are ready to go.

=== Agents ===

If ('''and only if''') you want to directly launch some Paparazzi agents (the ''Tools'' of the [[Paparazzi_Center|Paparazzi Center]]), without using the Paparazzi Center, you must have the Paparazzi source and home environment variables set correctly in your shell. These variables can be automatically set in your shell by adding the following lines to your .bashrc file:
{{Box Code|~/.bashrc|
export PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
export PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''
}}

=== env Variables ===

If you wish to manually set the env variables (i.e. when compiling a backup copy of your code in a different folder) execute the following command from the folder you wish to set as your active paparazzi folder:
export PAPARAZZI_HOME=`pwd`;export PAPARAZZI_SRC=`pwd`
Verify that your variables are set correctly with the following command:
env | grep PAPARAZZI
which should return the following:
PAPARAZZI_HOME<nowiki>=</nowiki>''your paparazzi software directory''
PAPARAZZI_SRC<nowiki>=</nowiki>''your paparazzi software directory''

== Setting access rights for USB download ==

This may be required to flash the Paparazzi-boards directly thru USB. For flashing details, see [[Compiling]].

Default linux rights may not allow standard (non root) users to directly access the USB bus. You will need to make yourself a member of the plugdev "group" and then create a "rule", associated with that "group". 
Make yourself a member of the ''plugdev'' group:

sudo adduser <your login> plugdev

Logout and login again. Then add the appropriate rule (available ine fhe file ''50-paparazzi.rules'') to the USB handler. Simply copy as root <tt>$PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules</tt> to <tt>/etc/udev/rules.d/</tt>

sudo cp $PAPARAZZI_HOME/conf/system/udev/rules/50-paparazzi.rules /etc/udev/rules.d/

== Software Updates ==
Paparazzi is a very rapidly evolving project and as such you might want to update your software regularly.

Any new files you created will not be lost/overwritten when updating (like your own airframe file). Nevertheless, as with all things, backups are advised.
If you modified source code, the best way is of course to use the version control system [[Git]] to commit your changes. Otherwise at least use the brute force method and save everything in another directory.

Update your software with care and caution, and always test the functionality on the ground and in the air as some updates will affect tuning parameters. You might need to update your airframe file as well. The compiler will usually complain if there is a problem, at which point you can look at the [[Airframe_Configuration|Airframe Configuration wiki page]] again, look on the [[Contact#Mailing_List|mailing list]] or some of the most recent airframe files on git to find the proper syntax. See the [[Compiling]] page for more help if needed.

That said, keeping your software up to date is fairly easy with Git.

To download and automatically merge any updated source files, run the following command from your Paparazzi directory
git pull
Please see the [[Git|Git wiki page]] for more details.

After any git update or source code modification the code can be recompiled from ''your paparazzi software directory'' with the following command:

make

The ''make'' command will only recompile portions of the software where changed have been detected. If it does not behave as expected you can deleted all compiled files and recompile from scratch with the following commands:

make clean
make

See the [[Compiling]] page for more info.

== Using the Live CD ==

There is a [[LiveCD]] available, but it dates back to 2008. It is still an easy way to get a first glimpse on Paparazzi.

== From Scratch==

In very rare occasions one needs to install the tools used, third-party libraries used by Paparazzi all from scratch. Currently there are no 64 bit Linux repositories, that is a very good reason to install from scratch. Sometime one just wants to be able to use all the latest and greatest compilers, or source code of everything to improve something. Then there is no other way than to install from scratch. To help you out getting it all smoothly working [[install_paparazzi_and_everything_from_scratch | a special page is created just click here]]. If you do not understand what that all means, do not panic, then the information on that page is not important to you. Just pretend you never read this part of the Wiki. You are advised just to follow the regular step as described on the install page.

== Using 32Bit on 64Bit ==

If you don't know what 64 bit (x86_64) means, then don't worry about this!
As previously discussed, there are currently no 64 bit paparazzi pre-made deb packages available. You could opt to install from scratch as described here http://paparazzi.enac.fr/wiki/Install_paparazzi_and_everything_from_scratch
An temporary solution is to use an i386 installation instead. In rare circumstances however, this may be problematic (certain engineering software for example requires 64 bit kernels).
In these cases, a chroot is a good compromise, while avoiding the overhead of a virtual machine (and USB device problems which may occur).
Initial instructions are here for now: https://help.ubuntu.com/community/DebootstrapChroot
The command you use for the bootstrap needs to reflect your architecture - I used

sudo debootstrap --variant=buildd --arch i386 lucid /var/chroot/lucid http://gb.archive.ubuntu.com/ubuntu/

The format for schroot config files has changed as of lucid however - here is mine:

$ cat /etc/schroot/chroot.d/lucid-i386
[lucid]
description=Ubuntu 10.04 Lucid for i386
directory=/var/chroot/lucid
personality=linux32
root-users=my_user
type=directory
users=my_user

Once you've installed the ubuntu minimal package, make sure you also enable the uni- and multiverse repos (the easiest way for me is to simply copy my host's /etc/apt/sources.lst to /var/chroot/lucid/etc/apt/sources.lst).
Then follow the standard instructions above. You may need to manually set the PAPARAZZI_HOME and PAPARAZZI_SRC environment variables. You will also have to set the DISPLAY environment variable to :0.0 like so:

export DISPLAY=:0.0

Please note, this is more advanced than the standard paparazzi installation and therefore you may encounter strange problems.

[[Category:Software]] [[Category:User_Documentation]]