PaparazziUAV - User contributions [en]

File:RawSdWithDelayOnSd.png

2012-10-08T20:33:05Z

DirkDokter: uploaded a new version of "File:RawSdWithDelayOnSd.png"

File:RawSdWithDelayOnSd.png

2012-10-08T20:20:31Z

DirkDokter:

NRAFS

2012-10-08T11:21:37Z

DirkDokter: /* A data block */

= Not Really a File System =
== Criteria ==
* Should be usable on flash memory: don't overwrite the same blocks over and over.
* Fast
* Should miss at most one block of data when a write operation is interrupted. (For example when a logger without dedicated battery is disconnected.)
* Table-like logging: a table header and a rows with data, separated in columns.

== Overview ==
[[File:NrafsOverview.png]]

== First block of disk, the "partition table" ==
The first block (512 Bytes) of the disk only has to be written once. It has an 8-bytes header which indicates that the disk is 'formatted' in NRAFS format. The remaining 504 Bytes are reserved for future use, and will store usage information about the SD-card's blocks.

== First block of log, the "table header" ==
The first block of a log can be seen as a table header. It consists off:
* A 16-byte header to indicate the block type.
* 16 bytes containing the airframe's MD5 sum.
* 1 byte containing the airframe ID.
* 5 bytes describing the reference (start) time of the log: 4 bytes descibe the time in seconds since Unix Epoch, and 1 byte indicates the 1/255th seconds.
(total 38 bytes)

And per field:
* 6 bytes describing the name of the field in ASCII.
* 1 byte describing the data type: 2 bits indicate the size of the field (8/16/24/32 bits); another bit indicates if it is a float or an interger; a fourth bit indicates if it is a signed or unsigned type.
* 1 byte containing the XOR checksum of this field description.
(total 8 bytes per field description)

When 59 fields are used, this would take 59*8=472 Bytes. As 38 Bytes are used for the header, there are still 512-472-38=2 Bytes available for a CRC checksum of this block.

== A data block ==
A data block simply consists of concatenated rows of binary data.
FieldA FieldB FieldC FieldD FieldA FieldB FieldC FieldD
No row seperator characters are used. We have to see how well that turns out. We could easily add a CRC per block as the STM32F10x and STM32F4 have hardware CRC-checksum generation.

== Where to start a new log? ==
Blocks are read starting from the second block of the SD card, until a block is found which does not start with the 16-byte "start of log" header. A
[[File:NrafsFindFreeLogSpace.png]]

NRAFS

2012-10-08T10:32:38Z

DirkDokter: /* Where to start a new log? */

= Not Really a File System =
== Criteria ==
* Should be usable on flash memory: don't overwrite the same blocks over and over.
* Fast
* Should miss at most one block of data when a write operation is interrupted. (For example when a logger without dedicated battery is disconnected.)
* Table-like logging: a table header and a rows with data, separated in columns.

== Overview ==
[[File:NrafsOverview.png]]

== First block of disk, the "partition table" ==
The first block (512 Bytes) of the disk only has to be written once. It has an 8-bytes header which indicates that the disk is 'formatted' in NRAFS format. The remaining 504 Bytes are reserved for future use, and will store usage information about the SD-card's blocks.

== First block of log, the "table header" ==
The first block of a log can be seen as a table header. It consists off:
* A 16-byte header to indicate the block type.
* 16 bytes containing the airframe's MD5 sum.
* 1 byte containing the airframe ID.
* 5 bytes describing the reference (start) time of the log: 4 bytes descibe the time in seconds since Unix Epoch, and 1 byte indicates the 1/255th seconds.
(total 38 bytes)

And per field:
* 6 bytes describing the name of the field in ASCII.
* 1 byte describing the data type: 2 bits indicate the size of the field (8/16/24/32 bits); another bit indicates if it is a float or an interger; a fourth bit indicates if it is a signed or unsigned type.
* 1 byte containing the XOR checksum of this field description.
(total 8 bytes per field description)

When 59 fields are used, this would take 59*8=472 Bytes. As 38 Bytes are used for the header, there are still 512-472-38=2 Bytes available for a CRC checksum of this block.

== A data block ==
A data block simply consists of concatenated rows of binary data.
FieldA FieldB FieldC FieldD FieldA FieldB FieldC FieldD
No row seperator characters are used. We have to see how well that turns out. We could easily add a CRC per block as the STM32F10x and STM32F4 have hardware CRC-checksum generation.
A log contains a minimum of 6 data blocks.

== Where to start a new log? ==
Blocks are read starting from the second block of the SD card, until a block is found which does not start with the 16-byte "start of log" header. A
[[File:NrafsFindFreeLogSpace.png]]

File:NrafsFindFreeLogSpace.png

2012-10-08T10:31:57Z

DirkDokter:

NRAFS

2012-10-07T18:21:55Z

DirkDokter:

= Not Really a File System =
== Criteria ==
* Should be usable on flash memory: don't overwrite the same blocks over and over.
* Fast
* Should miss at most one block of data when a write operation is interrupted. (For example when a logger without dedicated battery is disconnected.)
* Table-like logging: a table header and a rows with data, separated in columns.

== Overview ==
[[File:NrafsOverview.png]]

== First block of disk, the "partition table" ==
The first block (512 Bytes) of the disk only has to be written once. It has an 8-bytes header which indicates that the disk is 'formatted' in NRAFS format. The remaining 504 Bytes are reserved for future use, and will store usage information about the SD-card's blocks.

== First block of log, the "table header" ==
The first block of a log can be seen as a table header. It consists off:
* A 16-byte header to indicate the block type.
* 16 bytes containing the airframe's MD5 sum.
* 1 byte containing the airframe ID.
* 5 bytes describing the reference (start) time of the log: 4 bytes descibe the time in seconds since Unix Epoch, and 1 byte indicates the 1/255th seconds.
(total 38 bytes)

And per field:
* 6 bytes describing the name of the field in ASCII.
* 1 byte describing the data type: 2 bits indicate the size of the field (8/16/24/32 bits); another bit indicates if it is a float or an interger; a fourth bit indicates if it is a signed or unsigned type.
* 1 byte containing the XOR checksum of this field description.
(total 8 bytes per field description)

When 59 fields are used, this would take 59*8=472 Bytes. As 38 Bytes are used for the header, there are still 512-472-38=2 Bytes available for a CRC checksum of this block.

== A data block ==
A data block simply consists of concatenated rows of binary data.
FieldA FieldB FieldC FieldD FieldA FieldB FieldC FieldD
No row seperator characters are used. We have to see how well that turns out. We could easily add a CRC per block as the STM32F10x and STM32F4 have hardware CRC-checksum generation.
A log contains a minimum of 6 data blocks.

== Where to start a new log? ==
Blocks are read starting from the second block of the SD card, until a block is found which does not start with the 16-byte "start of log" header. A

NRAFS

2012-10-07T18:04:14Z

DirkDokter: Created page with "= Not Really a File System = == Criteria == * Should be usable on flash memory: don't overwrite the same blocks over and over. * Fast * Should miss at most one block of data wh…"

File:NrafsOverview.png

2012-10-07T17:37:37Z

DirkDokter:

Video

2012-09-26T10:06:57Z

DirkDokter: /* On-Screen Display (OSD) */

The main application for small UAVs is video. There are various means to take pictures from the aircraft and transfer them to the ground.

=Analog Video=

The easiest and most practical way is to transfer video in an analog way either as NTSC or PAL signal. The picture is taken by a camera, put to an analog signal and sent through an FM modulated transmitter.

==Cameras==
Affordable CCD cameras tend to be better in dynamic range and noise than same price CMOS cameras. On the other side CMOS ones do need less energy and they are more likely to run with 5V.

Small digital handheld cameras do have a much better optical system and sensor than stand alone cameras. There are ongoing efforts to reduce size and weight to be able to implement them.

=== Recommended cameras ===
A good selection of miniature cameras can be found at [http://www.microcameras.com/micro_cameras.htm Microcameras.com]. If you´re looking for Panasonic KX-xxx cameras find them here: [http://rangevideo.com/index.php?main_page=index&cPath=6 RangeVideo].

[[Image:micro_clr_cmos_02.jpg|thumb|left|Mini Color CMOS Camera with Pinhole Lens<br>TV Lines: 380<br>Lux: 1.5 at F1.2<br>Shutter: 1/50-1/63000<br>Power: 7-12V DC, 25mA (bypass regulator for 5V use)<br>Dim: 12mm x 12mm x 14mm<br>Weight: 3.3g (w/o cable)]]
[[Image:Cam_up.jpg|thumb|left|Camera position for upright pictures (crystal up). The blank copper is ground, blue is signal and red is 7V supply.]]
[[Image:Cam_up_5v.jpg|thumb|left|Solder the red cable to the other side of the capacitor connected to ground for 5V supply.]]
* Simple, lightweight camera with good performance
<br style="clear:both">

====Panasonic KX-141 (a.k.a. Pacific Corp. PC-2005) CCD====
[[Image:PC-2005_COLOR_CAMERA.JPG|thumb|left|Pacific Corp. PC-2005 CCD<br>5V supply, signal is yellow<br>12g]]
* Available at [http://www.blackwidowav.com/productcameras.html Black Widow AV]
* Available here too [http://rangevideo.com/index.php?main_page=index&cPath=6 RangeVideo]
<br style="clear:both">

=== Pan/tilt mechanism ===
For help in building a pan/tilt camera mechanism see our [[Pan_Tilt_Camera|pan/tilt camera]] page.
Code for driving such as system is in <tt>/sw/airborne/cam.c</tt>

== Transmitter ==
There are various FM transmitters available at 10mW, 50mW, 200mW or even more. Keep them as far away from the GPS receiver/antenna as possible as they might cause severe interference. For the competitions mostly 50mW or 200mW transmitters have been used.

Standard 2.4GHz Wi-Fi antennas can be used as lightweight dipole antennas by breaking the plastic case and removing everything except the coaxial cable and the counter balance soldered to the shield.

== Receiver ==
The most important thing about the receiver is a good antenna (we used a 2.4GHz Yagi (532-4474 from RS components) at some competitions, also some patch antennas). The analog receiver modules itself do not seem to differ very much.

== Display ==
CRT television sets seem to have the best picture. It blurs out the pixels that the human eye can see and the eye is very good at adapting to it. We used them whenever transport was not an issue. If not possible, small TFT video screens intended for car entertainment were used.

== Digital Display ==
[[Image:Pollin_usb_r1.jpg|thumb|left|Pollin USB R1 video receiver/digitizer]]
There is a TFT screen in the ground station, so why not use it? For that the picture does need to be digitized and feed into the laptop. In the early days we used a [http://www.plextor.com/english/products/M402U.htm Plextor M402U] to digitize and MPEG4 compress the analog video. It was then recorded or decompressed and displayed on screen. The drawback on this nice box is the delay you get through compressing/decompressing plus the size and the need for an external video receiver and power supply. A lot easier to use is the [http://www.pollin.de/shop/shop.php?cf=detail.php&pg=NQ==&a=NzM4OTE0OTk= Pollin USB-R1] which includes an analog video receiver and an USB (High Speed) digitizer. It does not need any external component or power supply.
<br style="clear:both">

===Plextor M402U===
This box not really recommended any more. With a recent kernel and driver patches from the Paparazzi cvs it should be possible to get it to run.

===Pollin USB R1===

The [http://www.pollin.de/shop/dt/NzM4OTE0OTk-/Haustechnik/Sicherheitstechnik/Kameras/USB_Funkkamera_2_4_GHz.html Pollin USB-R1] requires no additional software drivers since the release of Ubuntu 10.04 (Lucid Lynx). It now works out of the box.

====Watching Video====

Watch video with (maybe adjust the NORM to PAL or whatever your cameras standard is):

mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=NTSC:input=0:device=/dev/video0:noaudio

====LinuxTv (old driver)====

http://www.linuxtv.org/wiki/index.php/Em28xx_devices

shell> hg clone http://linuxtv.org/hg/v4l-dvb

shell> cd v4l-dvb
shell> make
shell> sudo make install

shell> mplayer tv:// -tv driver=v4l2:width=320:height=240:norm=PAL:input=1:device=/dev/video0:noaudio -vo x11

====Linux Kernel 2.18 (old driver)====
Some work is needed to get it to run with Linux as it needs a recent and patched version of the em28xx driver (this will get easier as the patches are integrated to v4l). You need some version control system as well as the kernel headers and video encoders, do as root:

aptitude install mercurial linux-headers-$(uname -r) libxvidcore4 libxvidcore-dev mplayer

Get the video4linux drivers using the (v4l) special version control system, as user:

hg clone http://mcentral.de/hg/~mrec/v4l-dvb-kernel

Copy over the two changed files "em28xx-cards.c" and "em28xx.h" from sw/in_progress/videolizer/v4l-dvb-experimental/ to the v4l-dvb-kernel/linux/drivers/media/video/em28xx/ folder. Then build v4l-dvb as user:

cd v4l-dvb-kernel
make

And install as root (you have to do this each time you update the kernel):

make install

Add the follwing to /etc/modprobe.d/emb28xx (as the Pollin USB-R1 does not have an EEPROM for auto detect.)

options em28xx card=62

====Linux Kernel 2.26 (old driver)====
The changes to the emb28xx driver have now been [http://mcentral.de/hg/~mrec/em28xx-new/rev/94d8ffd2d696 integrated upstream]. To build the driver, follow the [http://mcentral.de/wiki/index.php5/Installation_Guide instructions on the emb28xx driver website.]

Add the follwing to /etc/modprobe.d/emb28xx (as the Pollin USB-R1 does not have an EEPROM for auto detect.)

options em28xx card=76

===Using separate Frame Grabber and Video Receiver===

This solution provides maximum possible range, video quality and flexiblity due to modularity. Though it requires more hardware than the integrated [[Video#Pollin_USB_R1|Pollin USB R1]] solution.

====Frame Grabber====
A frame grabber takes the output of any video receiver and streams it into Linux.
[[Image:AVerMedia_EZMaker.jpg|thumb|left|AVerMedia DVD EZMaker USB 2.0 Gold]]
The AVerMedia DVD EZMaker USB 2.0 Gold works well and comes with a Linux driver.

The Easycap DC60+ (with Empia chip) works well and is less expensive but not as compact as the Pollin unit.

The video stream can be directly integrated into the GCS as described in [[GCS#Video_Plugin|Video Plugin]].
<br style="clear:both">

====Video Receiver====

[[Image:YellowJacket_Pro.jpg|thumb|left|Yellowjacket Pro Video Receiver 2.4GHz]]

This diversity receiver provides high range and video quality. Especially when connected to high gain patch antennas.
<br style="clear:both">

== Streaming ==

The USB video converters can be used to do live streams over the internet as seen at 24C3. We use [http://www.litech.org/spook/ spook] to receive the video data from the USB converter, compress it with MPEG4 and send it using the rtsp protocol. Spook needs some patches to work with the Pollin converter. Build it from Paparazzi cvs:

cd sw/in_progress/videolizer/spook
./configure

All encoders should be enabled. Then build it:

make

and start it

./spook -c spook.conf.usbraw

Watch video through vlc from it

vlc rtsp://localhost:7070/webcam

Note: a first time spook user must chose the correct video camera output format i.e. NTSC or PAL, for instance. Navigate to ~paparazzi3/sw/in_progress/videolizer/spook/spook.conf.usbraw/input VL42/InputType PAL; The CVS default is set as PAL.

Somehow the standard Debian 4.0 (etch) mplayer does not support rtsp:// video. The debian-multimedia.org mplayer seems to work. It can be installed adding to /etc/apt/sources.list:

deb http://www.debian-multimedia.org etch main

and install with

aptitude install -t stable mplayer

== Forward USB Streaming Video over a Mobile TCP/IP Link to a Remote Windows Viewer ==

If one has installed a fully functional USB video streaming payload, as outlined above, and wishes to share the output with associates beyond the perimeter of the local gcs TFT, implement the following.

===Modem Hardware===
[[Image:Vodafone_Huawei_E800_HSDPA_3G_Mobile_Data_Card.jpg|thumb|left|Vodafone mobile data card]]
Mobile modem choice is up to the user and ability to configure the interface to an ISP. The model described here and utilised for now is a Vodafone/Huawei E800 HSDPA 3G mobile data card. Compatible with Express Card laptops.
<br style="clear:both">

===Modem Linux Drivers===
[[Image:Vodafone_MC_startup_splash.jpg|thumb|left|Startup splash]]
Download the appropriate vodafone-mobile-connect-card-driver-for-linux for your Linux OS release at
[https://forge.vodafonebetavine.net/frs/?group_id=12 Forge Vodafone Betavine]. The Unbuntu Gutsy Gibbon & Hardy Heron version used by me can be loaded here: [https://forge.vodafonebetavine.net/frs/download.php/167/vodafone-mobile-connect-card-driver-for-linux-2.0.beta2-ubuntu-installer.run vodafone-mobile-connect-card-driver-for-linux-2.0.beta2-ubuntu-installer.run]. Right click link, choose 'save link as' to your home folder. Check the permissions tab to allow the downloaded file to run as an executable. Run file. Follow the instructions in the [https://forge.vodafonebetavine.net/frs/download.php/179/README_2.0.beta2.txt README].
<br style="clear:both">

Warning - the user is advised to install the data card in the express card slot prior to booting and turn off the wifi radio before intialising the software found in the /Applications/Internet drop down menus. Furthermore, the later procedure should be instituted before starting spook.

The local gcs server should be ready now to transmit video as well as other data once a connection to the ISP is established. Confirm this by getting the IP address, as user:

ifconfig

===Remote Client Connection Configuration===
[[Image:VLC_front_page.jpg|thumb|left|VLC Media Player]]
Windows client users will have to download VLC Media Player here: [http://www.videolan.org/ Version 0.8.6f] to view JPEG/HTTP video as defined in ~paparazzi3/sw/in_progress/videolizer/spook/spook.conf.dist
<br style="clear:both">

[[Image:PuTTY_SSH_front_page.jpg|thumb|left|PuTTY basic SSH configuration]]
To faciltate a secure SSH TCP forward port connection from the host to the Windows client install PuTTY here:
[http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html PuTTY Download page]. Insert the gcs host Mobile IP address obtained from the remote operator via a preferred form of communication .ie. chat, email etc.in the box labelled 'Host Name (or IP address)'. Confirm Port 22 is chosen and the connection type is SSH. Expand SSH category in left panel and click 'tunnels'. See next box.
<br style="clear:both">

[[Image:PuTTY_SSH_port_forwarding.jpg|thumb|left|PuTTY SSH port forwarding]]
Tick both port forwarding options. Set Source port to '80' and destination to 'localhost:7070/webcam'. Click 'Add' and then 'Open'. See next box.
<br style="clear:both">

[[Image:PuTTY_Terminal.jpg|thumb|left|PuTTY terminal logged in]]
The information contained within this terminal is self explanatory after a successful login.
<br style="clear:both">

[[Image:VLC_open_network_stream_page.jpg|thumb|left|VLC http network stream configuration]]
Open VLC, click 'file', select 'open network stream' and then 'HTTP/HTTPS/FTP/MMS'. Enter 'localhost:80/webcam' in the URL box and select 'Open'. See next box.
<br style="clear:both">

[[Image:Streaming_JPEG_HTTP_window.jpg|thumb|left|VLC Streaming jpeg/http window]]
Hopefully, whatever the on board camera is viewing is faithfully reproduced in the window. Unfortunately, the 'Print Screen' function fails to capture the live video output.
<br style="clear:both">

= Digital Video =

A fast digital telemetry link would be needed to send usable digital video. There are [http://www.comedia.com.cn/sm/C328.pdf serial bus cameras] that could be hooked up to the autopilot and the image data be sent through telemetry.

A full integration of a [http://www.gumstix.com/store/product_info.php?products_id=254 Caspa FS camera] on a [[Lisa]]/L board is currently under [[Dev/Caspa|development]].

= On-Screen Display (OSD) =

There are some situations where on-board data needs to be overlayed on the video stream. Examples include:
* Alternative display of on-board data without a telemetry link and GCS;
* In Australia, 2.4GHz analogue video links with OSD are considered as "telemetry transmitters" allowing 1000mW EIRP emission without a licence; or
* Sending a callsign when operating under an amateur licence.

A number of OSD devices exist.

[[Category:Hardware]] [[Category:User_Documentation]]

== IVY to Mavlink to UDP to UART ==
$ mavlink-ivy-interface 127.0.0.1
$ stty -F /dev/ttyUSB1 57600
$ nc -l -u 127.0.0.1 14550 > /dev/ttyUSB1

JTAG

2012-09-22T12:19:42Z

DirkDokter: /* Black Magic Probe */

=Introduction=
A JTAG interface is designed for on-chip debugging. It is used to program that do not have a means to upload software via USB already. For short; if you want to upload your own software or want to do serious paparazzi development work, the you need a cable like this.

=JTAG Cable overview=
There are multiple Paparazzi-compatible devices available that support JTAG. Below you find a list of JTAG devices that you can use in combination with e.g. a Paparazzi Lisa/M board.

== FLOSS JTAG ==

The FLOSS JTAG is based on an FTDI chip that allows two simultaneous USB connections, which means that FLOSS JTAG allows JTAG and UART/COM connections.

Let's take a look at upper side of the board. It contains JTAG connector (which is connected on photo) and two sets of RX/TX LEDs for JTAG and UART/COM interface separately. The JTAG connector is 2x5 pins, 0.05-inch pitch, and is compatible with the Samtec FFSD-05-D-06.00-01-N-RW-R ribbon cable.

[[Image:Jtag-up.jpg]]

On the other side of the board there is 4 pin UART/COM connector, which contains: Ground (black), TX (yellow), RX (orange) and +5V (red)

[[Image:Jtag-down.jpg]]

Usage of board is pretty simple: JTAG can be used to upload firmware into the board and/or repair board with broken bootloader, and UART/COM interfaced can be used to make "COM port style" connection to the board. COM connection can be used for example for telemetry debug.

More info available on the [http://randomprojects.org/wiki/Floss-JTAG randomprojects.org wiki].

== Black Magic Probe ==

[[Image:BMPM_1_top.jpg|500x500px]]

[[Image:BMPM_1_bottom.jpg|500x500px]]

Full info about the Black Magic Probe is available at the [http://www.blacksphere.co.nz/main/blackmagic Black Sphere Technology website].

To use Black Magic Probe instead of FLOSS-JTAG or Luftboot, append the following string to the upload command:

On Linux:
FLASH_MODE=JTAG BMP_PORT=/dev/ttyACM0
On Mac OS:
FLASH_MODE=JTAG BMP_PORT=/dev/cu.usbmodem<serial>

There are good Reasons to use Black Magic Probe Mini instead of FLOSS-JTAG: It just has much more options and cost less.

*No need for OpenOCD as BMPM has a built in GDB server
*Orders of magnitude faster as all the high speed protocol logic happens on the built-in STM32
*Supports Serial Wire Debug (SWD)
*Supports tracing using the SWD trace pin
*No need for loading and unloading of FTDI drivers on Mac OS X

===How to use Debugging features===

A page describing on how to start debugging using the BlackMagic probe cable can be found here JTAG: [[DevGuide/JTAG-Debug]]

===Upgrade BMP firmware===
git clone git://blackmagicdebug.git.sourceforge.net/gitroot/blackmagicdebug/blackmagicdebug
cd blackmagicdebug/src
make CROSS_COMPILE=~/sat/bin/arm-none-eabi-
../scripts/stm32_mem.py blackmagic.bin

== FT2232 Dev Board ==

Use ftdi prog to change the Description String into: FLOSS-JTAG

[[File:AlternativeFlossJtag.png]]

= Related articles =
* [[DevGuide/JTAG-Debug]] - Developer's guide JTAG debugging
* [[Dev/Debugging]] - General debugging information

[[Category:Hardware]] [[Category:Software]] [[Category:Developer_Documentation]]

----
(*(oo)*), ,~

Lisa/M v2.0

2012-09-17T17:10:36Z

DirkDokter: /* Extra Input */

<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:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. 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].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus (2 x when using only the first 6 Servo PPM outputs)
* 1 x Micro USB
* 4 x status LEDs with attached test point
* 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
* 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer
* Barometer (as of Aspirin v2.1r1)

'''Lisa/M has pads for the BMP085 pressure sensor. Boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1r1 which has the new MS5611-01BA03 barometric pressure sensor.'''

The drivers for the MS5611-01BA03 are work in progress and will be available in the master branch of the Paparazzi codebase soon. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

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

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BATT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. There one has to choose, either use SERVO7 and SERVO8 '''OR''' the use ''second'' I2C bus (I2C1) if that one needs to be used for whatever reason. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. This is recently fixed, so for this to work one must make sure to have the latest Paparazzi sourcecode.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BATT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
<br style="clear:both">

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BATT to V_IN||OPEN||Connects I2C1/CAN rail V_BATT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BATT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BATT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
<br style="clear:both">

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either [https://github.com/sim-/tgy Simon Kirby] or [https://github.com/bitdump/BLHeli BLHeli] firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list [https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE here].

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
One can use traditional PPM receivers as wel as Spektrum DSM2 or compatible receivers for flying your aircraft in manual mode during setup and test phase. The Lisa M can direcly connect to a Spectrum DSM2 satellite receiver. It is even possible to connect two satellite receivers for better redundancy or RC reception. It is

==== Bind your Spectrum DSM receiver ====

It is important to bind your receiver with your transmitter '''via your Lisa board''', not in any other way. The way to do this is via fiddly small molex pins

Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable

* On the connector ANALOG1 have a wire between the GND pin ADC1, located in the middle of the board
* Power up your autopilot board
* Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter
* Wait.. all light of receiver blink then go steady
* Let go of your transmitter bind button
* Power off your Lisa Board
* remove the wire between GND and ADC1 pins
* Repower your board, if you have servos connected and wiggle the RC transmitter sticks some sould move

That all, you are done. Only needs to be done '''once''' for your receiver.

=== Extra Input ===

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

=== Use USB as UART1TX + hardware flow control ===
[[File:Lisam-usb-uart1.jpg]]

The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTS respactively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line.

If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line. The combination of the pulldown resistor and the series resistor might cause the high-level voltage to drop under the high-level treshold of the microcontroller, causing strange behaviour.

<gallery widths=380px heights=205px>
Image:Lisam-diode.JPG | Remove this diode. After removing this diode you can not power the board via USB anymore.
Image:Lisam-gpio-usb.JPG | Take care of the small distance between the GPIO pins and the USB pads.
</gallery>

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
<br>
<br>

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 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/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Uploading new software ==

New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain a "luftboot" bootloader. All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot already in the board.

An alternative to get your software/flightplane in the board is by using a JTAG connector connected via the 10-pin Samtec connector that is available on the board.

=== Using luftboot ===

First make sure you '''update to the latest stable Paparazzi version''', then you will have support for this bootloader method. By default use the associated DFU loader to program the firmware. Make sure that your airframe file is set to use Lisa/M 2.0 as it's target board.

Currently Paparazzi firmware does not contain the needed software to switch into bootloader mode using software only by USB. To circumvent this shortcoming, you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2. Make sure you do not shortcircuit your board.

Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. If the status LEDs cycle up and down, it is in booatloader mode, ready to receive your new flightplan and autopilot control software upgdate.

Note that all of this won't be necessary in the future once a working USB stack stub is added to the latest Paparazzi.

[[File:Luftboot.gif|320px]]

You should disconnect the "Boot mode connector" after enforcing the bootloader. Pressing upload in the Paparazzi Center should now upload new code onto the board.

In the rare case you somehow have removed the luftboot bootloader, you can re-insert this Boatloader by following the instructions of ''Uploading the Paparazzi USB Bootloader''

=== Uploading the Paparazzi USB Bootloader ===

Reading or performing these steps is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc., these boards come with luftboot already preloaded. But in the case you made a board yourself or somehow do not have a preloaded bootloader, or it is gone because of unknown cause, then read this section. It describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Uploading new software]]

==== Required components ====

*Floss-JTAG debugger or Blacksphere mini JTAG
*Lisa/M board
*PC

==== Procedure ====
<ol>
<li>
Get the [https://github.com/paparazzi/luftboot Luftboot sourcecode from Github] via
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.

=== Using JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. To use JTAG flashing configure the ''FLASH_MODE'' in your firmware section:
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source>
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source>

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===

Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between LISA v1.1 and v2.0 ===

* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

== Hardware Change Requests ==

If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.

* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: Using a MS5611 is possible through using a Aspirin v2.1 board

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly insert I2CCAN Molex conector into SPI Molex on board connector. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available(if at al with SPI) and is tested to perform well.
[[Category:Lisa]] [[Category:User_Documentation]]

File:Lisam-usb-uart1.jpg

2012-09-17T17:02:32Z

DirkDokter:

File:Lisam-gpio-usb.JPG

2012-09-17T16:56:33Z

DirkDokter:

File:Lisam-diode.JPG

2012-09-17T16:54:20Z

DirkDokter:

Lisa Gumstix Breakout

2012-08-31T13:05:11Z

DirkDokter: /* Wishlist */

This page is currently dedicated to a proposal of a Lisa/M to Overo Gumstix breakout board.

== System Design ==

[[Image:Lmgs_system_diagram.jpg]]

== Wishlist ==

* 10/100 Base-T ethernet phy (at least one if not two)
* USB Host
* USB OTG
* FTDI based USB to serial converter connected to the Overo serial console
* Isolated SPI for connectivity to Lisa/M or other systems
* Isolated USART for connectivity to Lisa/M or other systems
* Levelshifted I2C to 5V/3.3V
* Levelshifted Gumstix GPIO to 5V/3.3V
* Break out and level-shift GPIO 48,49,50,51. Those pins are the hardware UART TX, RX, CTS, RTS pins. It is very useful to have the CTS and RTS pins broken out, in case someone would want to set up an PPP network link using two Digi XTends. It is not possible to use software flow control in this case, as the binary data stream might contain bytes that equal ctrl+s or ctrl+q.
* Break out PWM GPIO pins, e.g. to be able to control servo's. (level-shift to 5V) Oh... those can be used as timer inputs too of course.... take this into account when level-shifting (maybe add padds for the level-shifted output, and for the un-level-shifted input, for high frequency signal capture)

Lisa Gumstix Breakout

2012-08-31T13:04:55Z

DirkDokter: /* Wishlist */

This page is currently dedicated to a proposal of a Lisa/M to Overo Gumstix breakout board.

== System Design ==

[[Image:Lmgs_system_diagram.jpg]]

== Wishlist ==

* 10/100 Base-T ethernet phy (at least one if not two)
* USB Host
* USB OTG
* FTDI based USB to serial converter connected to the Overo serial console
* Isolated SPI for connectivity to Lisa/M or other systems
* Isolated USART for connectivity to Lisa/M or other systems
* Levelshifted I2C to 5V/3.3V
* Levelshifted Gumstix GPIO to 5V/3.3V
* Break out and level-shift GPIO 48,49,50,51. Those pins are the hardware UART TX, RX, CTS, RTS pins. It is very useful to have the CTS and RTS pins broken out, in case someone would want to set up an PPP network link using two Digi XTends. It is not possible to use software flow control in this case, as the binary data stream might contain bytes that equal ctrl+s or ctrl+q.
* Break out PWM GPIO pins, e.g. to be able to control servo's. (level-shift to 5V)
* Oh... those can be used as timer inputs too of course.... take this into account when level-shifting (maybe add padds for the level-shifted output, and for the un-level-shifted input, for high frequency signal capture)

Lisa Gumstix Breakout

2012-08-31T13:00:10Z

DirkDokter: /* Wishlist */

Lisa Gumstix Breakout

2012-08-31T12:59:17Z

DirkDokter: /* Wishlist */

Lisa Gumstix Breakout

2012-08-31T12:48:58Z

DirkDokter: /* Wishlist */

Lisa/L

2012-02-04T23:59:27Z

DirkDokter: /* IO */

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

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.
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]]

= Hardware Revision History =

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

= Features =

* STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf 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 [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=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]] ).
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 [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html 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 [http://paparazzi.enac.fr/wiki/LisaOveroImage 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 [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html 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.

= IO =

Lisa-L 0.99 LED order:

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

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

[[Image:LisaL-V1 1-back-labeled.png|500px]]

'''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.'''

= Spektrum/JR remote receiver connection diagram =

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

= 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.

[[Image:LisaL-V1 1-top-labeled-marked.png]]

[[Category:User_Documentation]]

Lisa/L

2012-02-04T23:59:05Z

DirkDokter:

This page describe how to use Lisa/L from a user point of view

= Lisa/L =

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.
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]]

= Hardware Revision History =

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

= Features =

* STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf 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 [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
* ?x USB (client)
* ? switching power supply
* ? linear regulator
* ?x status LEDs with attached test point
* ? grams (? oz)
* dimensions
* 4 layers PCB design

=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]] ).
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 [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html 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 [http://paparazzi.enac.fr/wiki/LisaOveroImage 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 [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html 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.

= IO =

Lisa-L 0.99 LED order:

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

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

[[Image:LisaL-V1 1-back-labeled.png|500px]]
'''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.'''

= Spektrum/JR remote receiver connection diagram =

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

= 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.

[[Image:LisaL-V1 1-top-labeled-marked.png]]

[[Category:User_Documentation]]