Lisa

2010-03-29T12:02:13Z

PiMyran: /* TODO */ Added tip on STM32 blinky, gdb, gcc

Lisa ( the Lost Illusions Serendipitous Autopilot) is a [http://www.st.com/mcu/inchtml-pages-stm32.html STM32]/[http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo] board designed to run Paparazzi

== TODO ==

open questions

* why not have servo and rc on PC6-9 ?
* change CAN tranceiver for a SN65HVD230 at 3V3 ?

List of files currently being edited:
*

Antoine:
* <strike>check JTAG on STM32</strike>
* <strike>work with Piotr on connecting the missing wires on the STM</strike>
* paparazzi drivers for STM32: (software )
* <strike>USB for gumstix : does 5V need to be switchable ? (to allow reset from the gumstix)</strike>
* <strike>Check's from sheet 5</strike>
* <strike>Pressure sensor instruction to gany (redo airspeed computation), so he can finish the schematic for that (or finish it directly in the schematic) ( in progress ) </strike>
* <strike>Check the routing rules below and add if planned on routing a certain part in a specific way</strike>
* write layout ideas / wishes

Esden:
* <strike>STM32 spelling and connection check</strike>
* <strike>Fix STM32 footprint pad sizes</strike>
* <strike>Routing rules that have to be followed</strike>
* <strike>Add specification of external pressure sensor ADC</strike>
* <strike>Replace all 0603 parts with versions from [http://github.com/esden/pretty-eagle-libs pretty-eagle-lib]</strike>
* <strike>Replace all molex connectors with versions from [http://github.com/esden/pretty-eagle-libs pretty-eagle-lib]</strike>
* <strike>Add a LED shift register</strike> (STP08CP05 should do the job)
* <strike>Order a STP08CP05 sample</strike>
* <strike>Test the STP08CP05 on a breadboard</strike>
* howto for STM32 gcc gdb toolchain (blinking LED or similar) (started writing one on [http://openhardwarewiki.org/wiki/Summon_ARM_Toolchain openhardwarewiki.org])
(PiMyran: Check [http://fun-tech.se/stm32/ this.]

Gany:
* <strike>Check FT2232 footprint hw/lbr/booz.lbr qfn-64 size & pinout
** -> Changed pad size from 0.6 x 0.4 to 0.75 x 0.25 and moved pin1 indicator outside the chip. </strike>
* <strike>Make sure STM32 can interrupt overo
** -> connected omap pin 176 with stm pin 11 via level shifter</strike>
* <strike>ADC ref and analog supply voltage on STM</strike>
* <strike>Battery voltage measurement</strike>
* <strike>make sure overo console serial port is usable when FT2232 is not powered. protect overo console with a gate to allow to connect something to it when FTDI is not powered/used.</strike>
* <strike>add led to show FT2232 is powered, since power is from USB</strike>
* <strike>pressure sensor filter and hookup for both sensors</strike>
* <strike>Bring remaining GPIO of STM to a connector</strike>
* <strike>Subtract 2V from abs sensor, 0.75 from differential</strike>
* Run simulation on filter
* Place components
* Route board
* Send for production 4pcb/pcbcard(china)/sunstone

== Hardware ==

Hardware is still in development. The current CAD files are maintained in savannah svn in the paparazzi4/trunk/hw/lisa directory.
Software development is done on a Overo/Summit + Olimex STM32-H103 dev board

[[Image:lisa_proto.jpg|thumb]]

=== Bill Of Material ===

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''Qty''!!width="150pt"|''Schematic part name''!!width="150pt"|''Value''!!width="150pt"|''Description''!!''Package''!!''Manufacturer''!!''Manufacturer part #''!!''Digikey''!!width="150pt"|''Mouser''
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Resistors''
|-
|foo_qty||foo_schem||foo_val||foo_desc||foo_package||foo_man||foo_man#||foo_dk||foo_mouser
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''LEDs''
|-
|4||LED_1 to LED_4|| N/A || LED 2x1.2mm RD/GN||foo_package||foo_man||foo_man#||754-1093-1-ND||foo_mouser
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''ICs''
|-
|1||MCU||STM32F103RE||Microcontrollers (MCU) 32BIT Cortex M3 Performance LINE||LQFP64||STMicroelectronics||STM32F103RET6||497-6444-ND||511-STM32F103RET6
|-
|1||BARO_ABS||MPXH6115|| SENSOR ABS PRESS 16.7PSI MAX || 8-SSOP with Port || Freescale|| ||MPXH6115AC6T1CT-ND||foo_mouser
|-
|1||BARO_DIF||MPXV5004DP|| SENSOR PRESSURE SMD 8-SOP || 8-SOP Dual Port || Freescale|| ||MPXV5004DP-ND||foo_mouser
|-
|1||LT_1||TXS0102DCU|| C VOLT-LEVEL TRANSLATOR 8-US8|| US8 || Texas Instruments|| ||296-21931-1-ND||foo_mouser
|-
|1||LT_3||ADG3308|| IC XLATOR 8CH 1.2-5.5V 20-LFCS || 20-LFCSP || Analog Devices Inc|| ||ADG3308BCPZ-REEL7CT-ND||foo_mouser
|-
|2||LT_I2C1 LT_I2C2||PCA9306|| IC LEVEL TRANSLATOR 8TSSOP || 8-TSSOP || NXP Semiconductors|| ||568-4214-1-ND||foo_mouser
|-
|1||REG6V5A||LM317MDTX|| IC REG POS 0.5A ADJ VOLT DPAK || DPak || Fairchild Semiconductor|| ||LM317MDTXFSCT-ND||foo_mouser
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Modules''
|-
|2||REG_3V3D REG_5VD||foo_val||foo_desc||foo_package||Texas Instruments||PTH08080WAH||296-20432-ND||foo_mouser
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''Crystals/Oscillators''
|-
|1||Q3||foo_val||foo_desc||foo_package||Abracom||ABM8-12.000MHz-B2-T|| foo_dk ||815-ABM8-12-B2-T
|}

=== STM32 ===

STM32-F103RE

==== pinout ====
{|border="1" cellspacing="0" style="text-align:center" cellpadding="2" valign="top"
|-style="background:LightYellow; color:black"
!''STM32 Pin''!!width="150pt"|''function''!!width="150pt"|''remark''!!width="150pt"|"validated"
|-style="background:WhiteSmoke; color:black"
|colspan="10" align="left"|''SPI1: IMU, MAG, BARO. STM32 is master''
|-
|21||SCK || ||
|-
|22||MISO|| ||
|-
|23||MOSI|| ||
|-
|9 ||DRDY IMU|| ||
|-
|8 ||SS IMU|| ||
|-
|24 ||DRDY MAG|| ||
|-
|10 ||SS MAG|| ||
|-
|25 ||RESET MAG|| ||
|}

SPI1 : IMU/baro high speed sensor communications, STM32 is master
pin 21 (SCK), 22(MISO), 23(MOSI)
accel/gyro 16bitsADC 9(DRDY) 8(SS)
mag 24(DRDY) 10(SS) 25(RESET)
eeprom 53(SS)
baro 40(DRDY) 39(SS)

SPI2 : overo, STM is slave
pin 33 (SS), 34(SCK), 35(MISO), 36(MOSI), 11(interrupt for OMAP)

I2C1 : motorcontroller
pin 58(SCL), 59(SDA)

I2C2 : extension
pin 29(SCL), 30(SDA)

UART1 : GPS or IMUxsense
pin 42(TX), 43(RX)

UART2 : Modem
pin 16(TX) ,17(RX)

UART3 : RC24
pin 51(TX), 52(RX)

CAN : motor controller
pin 42(TX), 43(RX)

SERVO_out: driving 3 servos
37(TIM3CH1), 38(TIM3CH2), 26(TIM3CH3)

RC_in: analog RC
27(TIM3H4)

JTAG : flash and debug
46(TMS), 49(TCK), 50(TDI), 55(TDO), 56(TRST), 7(RESET)

ADCs : 1 for battery 2/3 for extansion

LED :
3(LED_CLK), 4(LED_DATA)

POWER_SWITCHES: This is switched supply, used for example to switch on and off a video transmitter or some LEDS for night flight
Can be removed for lack of place

=== Pressure sensors ===

The board is equipped with a pair of pressure sensors, one absolute to measure altitude and one differential to measure airspeed.

==== Absolute Pressure ====
The proposed absolute pressure sensor is the freescale [http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPXx6115&fsrch=1 MPXh6115]
The following plot displays the output of the sensor versus altitude

[[Image:absolute_pressure.png]]

==== Differential Pressure ====

The proposed differential sensor is the [http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MPXx5004&fsrch=1 MPXV5004DP]

[[Image:differential_pressure.png]]

Because of high resolution requirements in the pressure sensor circuit there is an external ADC needed with the following features:
* 16bit resolution minimum, 20bit would be awesome
* Two channels (multiplexed or not) each at least 100Hz sampling rate
* I2C or SPI interface (I2C preferred)
** We used the [http://www.maxim-ic.com/quick_view2.cfm/qv_pk/4950 MAX11040] as ADC for a meteo payload, some (SPI) code is there. It samples 4 channels simultaneously in 24 bits (less "in real"). Slowest conversion speed is 250.1 samples/second.

=== FT2232 ===
This chip is used for JTAG on STM32 and SERIAL/USB convertion on overo console

datasheet: [http://www.ftdichip.com/Documents/DataSheets/DS_FT2232H_V206.pdf URL]

mini module used for dev : [http://www.ftdichip.com/Products/EvaluationKits/FT2232H_MiniModule.htm URL]

schematics used is from the minimodule as ft2232 and minimodule schematics are not coherent ( regarding pullups of the eeprom)

=== Gumstix overo ===

[http://pubs.gumstix.com/boards/COMS/Overo/PF3503-R2410_DWG.pdf] mechanical drawings

== Software ==

=== STM32 drivers for paparazzi ===

LED : done

SYS_TIME : done

UART : done without DMA, so got datalink, telemetry and RC24 working

PPMout: done, needed for servos ( 3 servos ? )

PPMin: not done, needed for analog radio control and windvane

I2C : not done, needed for motor controllers

SPI : not done, needed for IMU ( big works as we share with mag and baro) and for overo

CAN : not done, needed for motor controller and CSC

ADC: not done,

=== STM32 toolchain ===

You can use the [http://github.com/esden/summon-arm-toolchain summon-arm-toolchain] script to build the required toolchain.
For the default values of the Paparazzi Makefile to work, you should set

<code>
PREFIX=/opt/stm32/toolchain/arm-elf
</code>
and
<code>
LIBSTM32_EN=1
</code>

=== Open Embedded ===

Open Embedded is the linux distribution used on the overo.
You can follow the [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Setting-up-a-build-environment/111.html instructions] on gumstix's website to build a complete cross development environment. Paparazzi's Makefile will default to look for it in /overo-oe

== Status ==

== Routing Notes ==
* Motor controller connectors in 4 corners of the board if possible
* If we are running out of space on the board we have several options:
** Only one connector for the motors
** Two connectors for the motors on each side of the board
** Two connectors for the motors on each side of the board where each connector can accomodate two motor controller wires (4 pins each connector)
** Servo connector: used to drive up to 3 small servos, for example on a small biplan, or a gimbal for a camera, can also have switched 5V to switch on and OFF the video transmitter

== Routing Rules ==

* 6mil traces/spacings for signals
* 12mil traces/spacings for power traces (this is min value, otherwise as wide as possible or even planes if possible)
* 6mil layout grid
* Layer stacking:
** Top: Signal + Ground plane
** Route2: Ground plane(s) (Separate analogue and digital ground)
** Route15: Power plane(s)
** Bottom: Signal + Ground plane
* 0.4mm vias with 0.1mm restring

PaparazziUAV - User contributions [en]

Lisa