PaparazziUAV - User contributions [en]

Luftboot

2013-02-21T15:35:39Z

G R:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree>
|}

__TOC__

Luftboot is a bootloader for STM32 based boards and used for [[Lisa/M v2.0]].<br/>
The source is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch as a submodule.

== Uploading the Luftboot USB Bootloader ==
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/>
If you want to (re)upload or update the bootloader, read on... otherwise see [[Lisa/M v2.0#Uploading new software]]

'''The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.'''<br />
You must manually install libopencm3 (for example into /opt/libopencm3) in order to build luftboot.<br />
To compile libopencm3 with the ppz arm-none-eabi toolchain the examples folder must be removed.

=== Required components ===

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

=== Procedure ===
The easiest way is to checkout the master branch and use the integrated luftboot git submodule.<br/>
Otherwise clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
<ol>
<li>
Change directory into the ''luftboot/src'' folder, in paparazzi:
<source lang=bash>cd sw/ext/luftboot/src</source>
</li>
<li>
If you are using the submodule in the Paparazzi directory (''sw/ext/luftboot'') it should already be built, otherwise:
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M v2.0
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 flash DEV_SERIAL="LM2-020"</source>
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG:
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source>
</li>
</ol>

== Entering Bootloader Mode ==
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/>
However if you have a recent Luftboot version (since December 2012)

If you are in bootloader mode, the leds will cycle up and down:

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

The boot sequence is:
* 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

=== Force bootloader on old versions ===
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. 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. You should disconnect the "Boot mode connector" after enforcing the bootloader.

== 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.

[[Category:Firmware Flashing]]

Luftboot

2013-02-21T15:35:24Z

G R:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree>
|}

__TOC__

Luftboot is a bootloader for STM32 based boards and used for [[Lisa/M v2.0]].<br/>
The source is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch as a submodule.

== Uploading the Luftboot USB Bootloader ==
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/>
If you want to (re)upload or update the bootloader, read on... otherwise see [[Lisa/M v2.0#Uploading new software]]

'''The libopencm3 from the paparazzi-arm-multilib package is not new enough to build luftboot.'''
You must manually install libopencm3 (for example into /opt/libopencm3) in order to build luftboot.
To compile libopencm3 with the ppz arm-none-eabi toolchain the examples folder must be removed.

=== Required components ===

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

=== Procedure ===
The easiest way is to checkout the master branch and use the integrated luftboot git submodule.<br/>
Otherwise clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
<ol>
<li>
Change directory into the ''luftboot/src'' folder, in paparazzi:
<source lang=bash>cd sw/ext/luftboot/src</source>
</li>
<li>
If you are using the submodule in the Paparazzi directory (''sw/ext/luftboot'') it should already be built, otherwise:
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M v2.0
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 flash DEV_SERIAL="LM2-020"</source>
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG:
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source>
</li>
</ol>

== Entering Bootloader Mode ==
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/>
However if you have a recent Luftboot version (since December 2012)

If you are in bootloader mode, the leds will cycle up and down:

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

The boot sequence is:
* 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

=== Force bootloader on old versions ===
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. 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. You should disconnect the "Boot mode connector" after enforcing the bootloader.

== 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.

[[Category:Firmware Flashing]]

Luftboot

2013-02-21T15:34:37Z

G R:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Firmware Flashing</categorytree>
|}

__TOC__

Luftboot is a bootloader for STM32 based boards and used for [[Lisa/M v2.0]].<br/>
The source is available in the [https://github.com/paparazzi/luftboot paparazzi/luftboot] repository on github. It is also integrated into the master branch as a submodule.

== Uploading the Luftboot USB Bootloader ==
If you bought your Lisa/M v2.0 (e.g. from Transition Robotics Inc.) it should already come with the bootloader installed.<br/>
If you want to (re)upload or update the bootloader, read on... otherwise see [[Lisa/M v2.0#Uploading new software]]

The libopencm3 from the paparazzi-arm-dev package is not new enough to build luftboot.
You must manually install libopencm3 (for example into /opt/libopencm3) in order to build luftboot.
To compile libopencm3 with the ppz arm-none-eabi toolchain the examples folder must be removed.

=== Required components ===

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

=== Procedure ===
The easiest way is to checkout the master branch and use the integrated luftboot git submodule.<br/>
Otherwise clone the [https://github.com/paparazzi/luftboot Luftboot repository] directly:
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
<ol>
<li>
Change directory into the ''luftboot/src'' folder, in paparazzi:
<source lang=bash>cd sw/ext/luftboot/src</source>
</li>
<li>
If you are using the submodule in the Paparazzi directory (''sw/ext/luftboot'') it should already be built, otherwise:
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M v2.0
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 flash DEV_SERIAL="LM2-020"</source>
To use the BlackMagicProbe instead of [[DevGuide/OpenOCD|OpenOCD]] and FlossJTAG:
<source lang=bash>make flash DEV_SERIAL="LM2-020" BMP_PORT=/dev/ttyACM0</source>
</li>
</ol>

== Entering Bootloader Mode ==
Currently Luftboot cannot switch into bootloader mode using software only by USB.<br/>
However if you have a recent Luftboot version (since December 2012)

If you are in bootloader mode, the leds will cycle up and down:

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

The boot sequence is:
* 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

=== Force bootloader on old versions ===
To enter the bootloader mode of old luftboot versions (before December 2012), you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2 on your [[Lisa/M v2.0#Pinout|Lisa/M v2.0]]. 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. You should disconnect the "Boot mode connector" after enforcing the bootloader.

== 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.

[[Category:Firmware Flashing]]

Paparazzi vs X

2012-08-15T12:08:47Z

G R: /* Airbourne Software */

This page aims to provide honest comparisons between paparazzi and other open source autopilot systems.
These comparisons can then be used for improving paparazzi, where there is something a competitor does which is 'better'.

== Paparazzi (fixed-wing) vs [http://diydrones.com/profiles/blogs/ardupilot-mega-home-page ArduPlane] ==
===First contact===
The arduplane web presence is somewhat disjointed.
The 'official' home page (and first google result) is hosted on a subdomain of DIYDrones, but is basically a sales pitch.

The call to action redirects to a google code wiki, which is the real home of arduplane.
The sidebar of the wiki contains the following:

<nowiki>
ArduPlane Instruction
This is ArduPlane wiki, which includes all assembly and use instructions. Use the sidebar menu below to navigate.

Note: If you're looking for the ArduCopter manual, you can find it here.

Introduction
Get it!
Project news
Project history
Instructions:
Quick Start Guide
Setup
Flying
Simulation
Optional additions
Troubleshooting
Appendix
The DIY Drones Dev Team
Glossary
</nowiki>

The documentation seems to be much more centrally administered than paparazzi. The level of the documentation is definitely aimed at the beginner. The 'quickstart' guide presents two photos of the two main pieces of arduplane hardware (APM & APM2).
The guide links to the following steps (each is a wiki page).
<nowiki>
Install the Mission Planner software and APM firmware
Connect your RC equipment
Set up your configuration
Check it out in the air
Plan a mission
</nowiki>

=== Ground Station ===
The ArduPlane 'Mission Planner' is an open source Microsoft .NET application. It handles flight monitoring, firmware loading & configuration, log file replays and video display. It is approximately a 15MB download, and also runs happily under mono on linux (other than video playback).
32 and 64 bit installers are provided, along with a zip with the executables. Source code is provided via google code SVN.

The 'Flight Data' tab shows current aircraft location on google maps on the right, along with a PFD and altitude, speed and battery data on a HUD on the left.

The 'Flight Planner' tab provides support for loading waypoints into the aircraft. There are also grid survey and basic photogrammetry options.

The 'Configuration' tab is where autopilot settings are configured.

'Simulation' provides software in the loop functions for X-Plane, Flightgear, JSB-Sim and AeroSimRC.

'Firmware' provides a window where we select the type of firmware to load onto the autopilot (fixed wing, quadrotor, hexrotor, okto, heli etc).
The software downloads the latest firmware, compiles it and uploads it to the autopilot.

'Terminal' provides a terminal (obviously) connected to the com port of the autopilot. In normal operation, it's full of garbage characters from mavlink.

At the top right hand of the application are two spinner buttons for serial port and baud rate, along with a connect button.

===Hardware===
Arduplane hardware is highly homogenised - only the current AP board generation and previous board are supported.
Almost all AP boards are manufactured & sold by 3DR, who also lead development of arduplane. Obtaining prebuilt hardware is much easier than paparazzi - there are multiple distributors in most countries, plus the official 3DR store ships worldwide.
All board use full size servo headers, and also include RC input headers & a PPM encoder (PPM input is supported, but as an 'advanced' option).
All boards include an IMU. All boards connect to the host PC via USB, and use the arduino C++ preprocessor and uploader under the covers.
Hardware is tied to what the arduino ecosystem supports and therefore processors tend to be underpowered compared to virtually all competitors.

===Airbourne Software===
Building the airside software requires the arduino IDE (which is cross-platform and open source). Most users of arduplane however are not expected to modify anything beyond the settings provided in the Mission Planner. The arduino environment is simpler for beginners to grasp than the embedded C of paparazzi. However, the current arduplane code is not particularly easy to read or modify due to the way it is written (may be due to the space constraints of the platform). Telemetry is via Mavlink, which is compatible with QGroundControl.

Extensibility is extremely limited compared to paparazzi - only peripherals sold by 3DR are supported (ultrasound, optical flow sensor etc). There is nothing compared to the paparazzi module ecosystem. This may be a function of the cathedral type development.

Paparazzi vs X

2012-08-15T12:08:16Z

G R:

Lisa/M v2.0

2012-04-16T15:08:36Z

G R: /* Uploading Autopilot Code */

<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]
* 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 (6 w/ second I2C 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 when using only 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 IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). 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%"
|+'''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||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||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_BAT 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%"
|+'''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||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||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. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== 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_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT 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_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT 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_BAT 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_BAT 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 ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
<br style="clear:both">

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
<br style="clear:both">

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== 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 Autopilot Code ==

If your Lisa/M has a bootloader, you can upload code via the micro-USB port.
When the bootloader is running, the status LEDs will cycle up and down.

Currently, the bootloader will not detect that USB is connected at startup.
To force the bootloader to run, bridge ADC2 and GND by making up a connector.
This won't be necessary in the future once USB detection has been added to the bootloader.

Once the bridge connector is attached, attach the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode.
Assuming your build target uses the Lisa/M board, pressing upload should now load code onto the board.

== Paparazzi USB Bootloader Upload ==

[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#Programming]]
When Luftboot is correctly loaded, the status LEDs on the Lisa/M will cycle up and down.

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

=== Required components ===
*Floss-JTAG debugger
*Lisa/M
*PC

=== Procedure ===
#Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>
git clone https://github.com/paparazzi/luftboot.git
</source>
#Change directory into the luftboot/src folder
<source lang=bash>
cd ./luftboot/src
</source>
#Build luftboot
<source lang=bash>
make clean && make
</source>
If you get make: arm-none-eabi-objcopy: Command not found and have the paparazzi-multilib package installed, run
<source lang=bash>
export PATH=/opt/paparazzi/arm-multilib/bin/:$PATH
</source>
#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>

=== Connection Diagram ===

=== Boot Sequence ===

== JTAG ==
JTAG can be used to upload firmware if no bootloader as present. It can also be used for debugging.
* [[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

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lot's 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.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* 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: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* 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 inject CAN Molex into SPI.

[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-04-16T15:04:26Z

G R: /* Uploading Autopilot Code */

<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]
* 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 (6 w/ second I2C 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 when using only 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 IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). 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%"
|+'''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||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||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_BAT 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%"
|+'''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||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||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. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== 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_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT 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_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT 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_BAT 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_BAT 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 ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
<br style="clear:both">

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
<br style="clear:both">

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== 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 Autopilot Code ==

If your Lisa/M has a bootloader, you can upload code via the micro-USB port.
When the bootloader is running, the status LEDs will cycle up and down.

Currently, the bootloader will not detect that USB is connected at startup.
To force the bootloader to run, bridge ADC2 and GND by making up a connector as pictured.
[[File:Lisa-m-bootloader-bridge.jpg]]
This won't be necessary in the future once USB detection has been added to the bootloader.

== Paparazzi USB Bootloader Upload ==

[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#Programming]]
When Luftboot is correctly loaded, the status LEDs on the Lisa/M will cycle up and down.

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

=== Required components ===
*Floss-JTAG debugger
*Lisa/M
*PC

=== Procedure ===
#Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>
git clone https://github.com/paparazzi/luftboot.git
</source>
#Change directory into the luftboot/src folder
<source lang=bash>
cd ./luftboot/src
</source>
#Build luftboot
<source lang=bash>
make clean && make
</source>
If you get make: arm-none-eabi-objcopy: Command not found and have the paparazzi-multilib package installed, run
<source lang=bash>
export PATH=/opt/paparazzi/arm-multilib/bin/:$PATH
</source>
#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>

=== Connection Diagram ===

=== Boot Sequence ===

== JTAG ==
JTAG can be used to upload firmware if no bootloader as present. It can also be used for debugging.
* [[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

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lot's 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.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* 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: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* 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 inject CAN Molex into SPI.

[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-04-16T14:59:47Z

G R: /* Paparazzi USB Bootloader Upload */

<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]
* 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 (6 w/ second I2C 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 when using only 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 IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). 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%"
|+'''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||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||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_BAT 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%"
|+'''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||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||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. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== 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_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT 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_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT 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_BAT 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_BAT 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 ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
<br style="clear:both">

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
<br style="clear:both">

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== 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 Autopilot Code ==

If your Lisa/M has a bootloader, you can upload code via the micro-USB port.

== Paparazzi USB Bootloader Upload ==

[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#Programming]]
When Luftboot is correctly loaded, the status LEDs on the Lisa/M will cycle up and down.

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

=== Required components ===
*Floss-JTAG debugger
*Lisa/M
*PC

=== Procedure ===
#Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>
git clone https://github.com/paparazzi/luftboot.git
</source>
#Change directory into the luftboot/src folder
<source lang=bash>
cd ./luftboot/src
</source>
#Build luftboot
<source lang=bash>
make clean && make
</source>
If you get make: arm-none-eabi-objcopy: Command not found and have the paparazzi-multilib package installed, run
<source lang=bash>
export PATH=/opt/paparazzi/arm-multilib/bin/:$PATH
</source>
#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>

=== Connection Diagram ===

=== Boot Sequence ===

== JTAG ==
JTAG can be used to upload firmware if no bootloader as present. It can also be used for debugging.
* [[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

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lot's 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.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* 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: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* 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 inject CAN Molex into SPI.

[[Category:Lisa]] [[Category:User_Documentation]]

Lisa/M v2.0

2012-04-16T14:59:09Z

G R: /* Paparazzi USB Bootloader Upload */

<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]
* 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 (6 w/ second I2C 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 when using only 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 IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin (''v0.1 - v1.1''). 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%"
|+'''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||ADC4||I/O||ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC)||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_BAT 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%"
|+'''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||ADC1||In||ADC1||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3||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. As such, SERVO7 and SERVO8 '''CAN NOT''' be used while I2C1 is being used.

=== 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_BAT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BAT 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_BAT to V_IN||OPEN||Connects I2C1/CAN rail V_BAT 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_BAT 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_BAT 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 ==
=== Small Aircraft Connection Diagram ===
Need an Umarim_v1.0-style ([[Umarim_v10#Small_Aircraft_Connection_Diagram | here]]) small aircraft airborne equipment electrical connections here.
<br style="clear:both">

=== Large Aircraft Connection Diagram ===
Need an Umarim V1.0-style ([[Umarim_v10#Large_Aircraft_Connection_Diagram | here]]) large aircraft airborne equipment electrical connections diagram here.
<br style="clear:both">

=== R/C Receivers ===
There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.

Also UART pins can be used as general purpose I/O to be used for PPM input. Additionally [[PPM_Encoder | PPM encoder]] can be used to avoid receiver hardware modification.

== 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 Autopilot Code ==

If your Lisa/M has a bootloader, you can upload code via the micro-USB port.

== Paparazzi USB Bootloader Upload ==

[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#Programming]]
When Luftboot is correctly loaded, the status LEDs on the Lisa/M will cycle up and down.

[[File:Luftboot.gif|size=320x240]]

=== Required components ===
*Floss-JTAG debugger
*Lisa/M
*PC

=== Procedure ===
#Checkout [https://github.com/paparazzi/luftboot Luftboot from Github]
<source lang=bash>
git clone https://github.com/paparazzi/luftboot.git
</source>
#Change directory into the luftboot/src folder
<source lang=bash>
cd ./luftboot/src
</source>
#Build luftboot
<source lang=bash>
make clean && make
</source>
If you get make: arm-none-eabi-objcopy: Command not found and have the paparazzi-multilib package installed, run
<source lang=bash>
export PATH=/opt/paparazzi/arm-multilib/bin/:$PATH
</source>
#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>

=== Connection Diagram ===

=== Boot Sequence ===

== JTAG ==
JTAG can be used to upload firmware if no bootloader as present. It can also be used for debugging.
* [[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

== Detailed Hardware Revision History ==

=== Changes Between v1.1 and v2.0 ===
* Lot's 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.
* ...

=== Changes Between v1.0 and v1.1 ===
* Removed pull-ups on the USB gpio
* Removed pull-ups on the CAN gpio
* Connected usb_vbus to pa9 (needed by the USBotg)
* Removed USB pullup transistor as usbotg has a built in pullup
* Swapped UART1 with UART3 (uart1 was used for gps and pa9 was it's tx line, to be able to talk to the gps unit uart3 is a better choice, as uart1 only has an rx line now it is a better choice for spektrum RX modules)
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* Added voltage selector jumpers to the RC RX connector; to enable powering of 3v3 or an 5v receivers
* Replaced vertical board solution with through hole servo pin headers (easier assembly)
* Servo connectors are in groups of two; for easier assembly
* Servo VBUS is connected together on all four layers; for lower resistance
* Moved LED's from under the analog2 connector; to be able to populate LED's and the connector
* Moved the RC RX connector a bit; to prevent crashing with the jtag plug
* Added one additional servo connector; now we have all 8 accessible through the standard servo connectors
* Fixed servo channel labeling to start at '''S0''' as it is the case on TWOG and Tiny autopilot boards
* Added secondary through hole picoblade USB connector for easier routing of USB inside an airframe
* ...

=== Changes Between v0.1 and v1.0 ===
* Switched to stm32f105 to be able to use usb and can at the same time
* Added alternative use of the adc lines as led output
* ...

=== Hardware Change Requests ===
* 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: This upgrade will be available through Aspirin v2.0 --[[User:Esden|Esden]] 22:54, 5 January 2012 (CET)

* 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 inject CAN Molex into SPI.

[[Category:Lisa]] [[Category:User_Documentation]]

2010-11-02T09:39:45Z

G R:

Hecto

2010-05-24T21:15:49Z

G R:

[http://www.ladepeche.fr/article/2010/05/24/841327-Pyrenees-mort-et-prisonnier-des-glaces.html Newspaper article]

Pascal is the father of the Paparazzi project. He was the wizard of the computers, a talented "Alpiniste" and a great human being.

[[Image:PolarBear.jpg|thumbnail||center||x800px]] [[Image:PascalTPS.jpg|thumbnail||center||x800px]]

'''Translation of "La Dépêche" article from 2010/05/24'''

'''Pyrenees : dead and ice-bound'''

A 43 year old Toulouse resident, Pascal Brisset, fell to his death on Saturday afternoon into a crevasse from the north face of the Vignemale Glacier, in the Hautes-Pyrenees.

A member of the Toulouse French Alpine Club, Pascal Brisset was participating in a glacier safety camp. With his fellow climbers he planned to stay overnight at the refuge "Les Oulettes de Gaube". The accident took place on Saturday afternoon around 15:00. A snow bridge collapsed under Pascal's weight. The climber's harness was not attached at the moment and he fell into the newly revealed crevasse.

The rescue team from Pierrefitte-Nestalas arrived on scene shortly after by helicopter.

The body of the climber was located 30 meters deep. The crevasse was only one meter large at the top and narrowed down to 20 centimeters.

The rescue team worked all Saturday afternoon and came back on Sunday morning trying to free the body. A very difficult task due to the narrow crevasse, and the fact that the body was already ice-bound. The rescue team tried everything including a jackhammer to break the ice gangue. The effort ceased at noon on Sunday due to the high risk of rock falls and a hazardous snow. "we had to quit working" said, yesterday, a member of the rescue team, disappointed.

Pascal Brisset will remain a prisoner of his ice coffin for now. In motion, the Vignemale Glacier should give the body back in a few months or years.

From "La dépêche" 4/05/2010 08:43

[[Image:vignemale.jpg|thumbnail||center||x800px]]

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Pascal, your work, your project has changed my life. To fly an autonmous plane was only a dream and it came true. It was a great pleasure to meet you at all the interesting places that this project brought us to, work together and have all the talks and chats. Will miss you and all that a lot - Martin

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Looks like it going to be hard not to repeat what Martin said above, so.... Thank you for the ride and I'll miss you. I'm not sure how we're going to keep this thing afloat without you, but don't worry, we'll find a way - Poine

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Pascal, we thank you for everything you learned us. We will never forget the feeling of our first night flights in Toulouse! - The TU Delft MAVlab Team

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Pascal i will light a candle for you. I really cannot find any words to describe the magnitude of your
contribution not only to the Paparazzi project but also to the spirit of sharing Knowledge for free.
Good Bye my friend. Chris

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Pascal, You were a great friend and role model to us all. Your incredible motivation, ingenuity, and generosity was inspirational and instrumental to the professional success of many of your followers. I, for one, could not have found my perfect job designing UAVs for Aerovironment if I had not met you and absorbed some of your tremendous knowledge. You have significanly shaped the direction of my life and will always remain a part of me.<br><i>-Jeremy</i>

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Not much to add, I only got the chance to meet you once and you wouldn't even let me buy you a beer!
You truly embodied the idea of open source and as many have said above, the Paparazzi project had a significant role in my future career and education.
Fly Free. - Gareth R