Difference between revisions of "Lisa/L"

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This page describe how to use Lisa/L from a user point of view
<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:lisa_l_top.png|right|500px|Lisa/L V1.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>


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


Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html STM32] microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi.
== Hardware Revision History ==
There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.
 
 
 
= Description =
 
Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.
 
[[Image:lisa_l_bloc_diag_simple.png|360px]]
[[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]]
 
 
 
= Hardware Revision History =


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
!''Version #''!!''Release Date''!!''Release Notes''
|-
|-
|v1.00||???||Initial release of Lisa/L
|v1.1||???||Next release of Lisa/L
|-
|v1.0||???||Initial release of Lisa/L
|}
|}
For differences between versions, please [[Lisa/L#Detailed_Hardware_Revision_History|see below]].


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


 
Features:
= Features =
* STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf STM32F103RE datasheet]
 
* Numerous reconfigurable analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* STM32 microcontroller (CortexM3@72Mhz)  
* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
* 3x 3.3V TTL UART (5V tolerant)
* 3x 3.3V TTL UART (5V tolerant)
* 1x CAN
* 1x CAN
Line 37: Line 27:
* 2x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 2x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
* 2x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
* ?x USB (client)
* 1x USB (client) connected to STM32 JTAG and Overo serial console
* ? switching power supply
* 2x switching power supply (3.3V and 5V)
* ? linear regulator
* 6.5V linear regulator for ADC
* ?x status LEDs with attached test point
* 8x status LEDs with attached test point
* ? grams (? oz)
* 1x absolute pressure sensor (for altitude)
* dimensions
* 1x differential pressure sensor (for airspeed)
* 4 layers PCB design
* Integrated JTAG debug for STM32
* 1x Gumstix Overo Mount
* 1x IMU mount
* 30 grams (1.1 oz), not including Aspirin IMU or Gumstix Overo COM
* 50mm x 90mm (2in x 3.6in)
* 4 layer PCB design


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


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


=== Overo ===
* The main documentation page for the overo on gumstix website is [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html here].
* We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap
If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.


When you want the wright files to be downloaded en written on the SD do:  
<gallery widths=360px heights=255px>
cd ~/sw/tools/overo_sd_maker/
Image:lisa_l_bloc_diag_simple.png|Lisa/L simplified block diagram
sw/tools/overo_sd_maker
Image:lisa_l_top.png|Lisa/L v1.0 top view
sudo ./overo_sd_maker.sh
Image:lisa_l_bot.png|Lisa/L v1.0 bottom view
</gallery>


== Pinout ==
Pins Name and Type are specified with respect to the Autopilot Board.
=== Lisa/L V1.1 ===


*Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.  
[[Image:LisaL-V1 1-top-labeled.png|900px]]


For Kermit do:
[[Image:LisaL-V1 1-back-labeled.png|643px]]
sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
C-Kermit>connect
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.


When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:
'''NOTE: The silkscreen on the PCB says that the 8th pin of the ADC/Spare header is PB2. This is incorrect, pin 8 is PD2.'''


overo login: root
Lisa-L 0.99 LED order:
root@overo:~#


* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.    
   green: 3,  5,  7,  1
* Flash the STM32 with the link test program
   red:   2,  4,  6,  0
   make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
* Compile and upload the Overo test program.
   make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
* Log on your Overo and run it
 
=Use case #1: the fixedwing firmware running in the STM32 only=


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


=Use case #2: the rotorcraft firmware running in the STM32 only=
NEED PINOUT TABLES HERE!!!


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


    make AIRCRAFT=BOOZ2_A7 ap.upload
The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector.


=Use case #3: the lisa_passthrough firmware=
== Schematic ==
Also see the [[Lisa/L#Downloads|Downloads]] section.


This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.
=== Lisa/L v1.0 ===
LisaL V1.0 Schematic Sheets 1 .. 6
<gallery>
Image:LisaL_v1_0_schematic_1.png | LisaL V1.0 Schematic Sheet 1/6
Image:LisaL_v1_0_schematic_2.png | LisaL V1.0 Schematic Sheet 2/6
Image:LisaL_v1_0_schematic_3.png | LisaL V1.0 Schematic Sheet 3/6
Image:LisaL_v1_0_schematic_4.png | LisaL V1.0 Schematic Sheet 4/6
Image:LisaL_v1_0_schematic_5.png | LisaL V1.0 Schematic Sheet 5/6
Image:LisaL_v1_0_schematic_6.png | LisaL V1.0 Schematic Sheet 6/6
</gallery>


The stm_passthrough target is what is ran on the STM32.
=== Lisa/L v1.1 ===
LisaL V1.1 Schematic Sheets 1 .. 6
<gallery>
Image:LisaL_v1_1_schematic_1.png | LisaL V1.1 Schematic Sheet 1/6
Image:LisaL_v1_1_schematic_2.png | LisaL V1.1 Schematic Sheet 2/6
Image:LisaL_v1_1_schematic_3.png | LisaL V1.1 Schematic Sheet 3/6
Image:LisaL_v1_1_schematic_4.png | LisaL V1.1 Schematic Sheet 4/6
Image:LisaL_v1_1_schematic_5.png | LisaL V1.1 Schematic Sheet 5/6
Image:LisaL_v1_1_schematic_6.png | LisaL V1.1 Schematic Sheet 6/6
</gallery>


The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.
LisaL V1.1 place Ppans front and back
<gallery>
Image:LisaL_v1_1_placeplan_front.png | LisaL V1.1 Placeplan Front
Image:LisaL_v1_1_placeplan_back.png | LisaL V1.1 Placeplan Back
</gallery>


= IO =


Lisa-L 0.99 LED order:
== Examples of Airborne Equipment Electrical Connections ==


  green: 3, 5,  7,  1
Need some examples here, see [[Lisa/M_v20#Examples_of_Airborne_Equipment_Electrical_Connections]] or [[Umarim_v10#Examples_of_Airborne_Equipment_Electrical_Connections]]
  red:  2,  4,  6,  0


[[Image:LisaL-V1 1-top-labeled.png|700px]]
=== R/C Receivers ===


[[Image:LisaL-V1 1-back-labeled.png|500px]]
==== Spektrum/JR remote receiver connection diagram ====
 
There is a Spektrum parser available, enabling the direct use of 1 or 2 Spektrum satellite receivers.
= Spektrum/JR remote receiver connection diagram =


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


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


To use the PPM signal of a PPM remote receiver, the input pin for the signal is the Trig.pin 1 (on UART1 connector), it is hardcoded and can not be changed.  Also make sure that a bridge(~0 Ohm) in the conductor path is soldered. See below picture for the right position.
To use the PPM signal of a PPM remote receiver, the input pin for the signal is the Trig.pin 1 (on UART1 connector), it is hardcoded and can not be changed.  Also make sure that a bridge(~0 Ohm) in the conductor path is soldered. See below picture for the right position.
Line 134: Line 121:
[[Image:LisaL-V1 1-top-labeled-marked.png]]
[[Image:LisaL-V1 1-top-labeled-marked.png]]


[[Category:User_Documentation]]
 
== PCB ==
 
=== Gerber & Drill Files  ===
 
'''''Download  Lisa/L gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
Need some generated gerbers and drill files here.
 
== Assembly ==
 
===Components Layout===
 
''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.
 
=== Bill Of Material ===
 
'''''Download  Lisa/L Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/L#Downloads|Downloads]]''
<br>
<br>
 
== PCB and assembled boards suppliers ==
 
Available on [[Get_Hardware|Get Hardware]] page, hopefully :)
 
 
== Mechanical Dimensions ==
 
Lisa/L's four mounting holes fit M3 screws or standoffs. Their centers are in a square 43.8mm on a side.
 
NEED LISA/L MECHANICAL DRAWING.
 
== Downloads ==
 
'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_l/ Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/L Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/L Bill Of Material
 
== JTAG ==
JTAG can be used to upload firmware through the onboard JTAG interface. It can also be used for debugging. It appears as the second USB device of Lisa/L, so if you don't have anything else connected as /dev/ttyUSB1
* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.
 
==Serial Firmware Upload==
 
Now a boot sequence works as follows:
#BOOT0 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1.
#Power the board and activate the bootloader program
 
In the target section of the airframe file.
 
  <target name="ap" board="lisa_l_1.1">
  <configure name="FLASH_MODE" value="SERIAL"/>
 
Then upload as usual...
 
== Detailed Hardware Revision History ==
 
NEED DETAILS BETWEEN VERSIONS HERE!!!
 
 
[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]

Latest revision as of 18:15, 2 August 2013

Autopilots
Booz
HB Autopilots
Lisa
Tiny
YAPA Autopilots
Ap.parrot minidrone
Apogee/v1.00
HITL
Autopilots
Bebop
Booz
Chimera/v1.00
Classix
CrazybeeF4Pro
Disco
Elle
Elle0
Future Autopilots
Krooz
KroozSD
LinAM V4
Lisa
Lisa/Bone
Lisa/L
Lisa/M
Lisa/M v1.0
Lisa/M v2.0
Lisa/MX
Lisa/S
NavGo v3
NavStik
Pixhawk
Pixracer
Previous Autopilots
STM32F4 Discovery
STM32F429I Discovery
Tawaki/v1.00
Tawaki/v1.10
Tawaki/v2.01
TWOG/v1.0
Umarim Lite v2
Umarim v1.0
Xvert
Lisa/L V1.0 top view

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

Hardware Revision History

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

For differences between versions, please see below.

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

Features:

  • STM32 microcontroller (CortexM3@72Mhz) STM32F103RE datasheet
  • Numerous reconfigurable analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
  • 3x 3.3V TTL UART (5V tolerant)
  • 1x CAN
  • 6x PWM outputs
  • 1x R/C receiver PPM frame input (trig pin on UART1 connector)
  • 2x SPI bus
  • 2x I2C bus
  • 1x USB (client) connected to STM32 JTAG and Overo serial console
  • 2x switching power supply (3.3V and 5V)
  • 6.5V linear regulator for ADC
  • 8x status LEDs with attached test point
  • 1x absolute pressure sensor (for altitude)
  • 1x differential pressure sensor (for airspeed)
  • Integrated JTAG debug for STM32
  • 1x Gumstix Overo Mount
  • 1x IMU mount
  • 30 grams (1.1 oz), not including Aspirin IMU or Gumstix Overo COM
  • 50mm x 90mm (2in x 3.6in)
  • 4 layer PCB design

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


  • Lisa/L simplified block diagram

  • Lisa/L v1.0 top view

  • Lisa/L v1.0 bottom view

Pinout

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

Lisa/L V1.1

LisaL-V1 1-top-labeled.png

LisaL-V1 1-back-labeled.png

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

Lisa-L 0.99 LED order: 

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


NEED PINOUT TABLES HERE!!!

Powering the Board

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

Schematic

Also see the Downloads section.

Lisa/L v1.0

LisaL V1.0 Schematic Sheets 1 .. 6

  • LisaL V1.0 Schematic Sheet 1/6

  • LisaL V1.0 Schematic Sheet 2/6

  • LisaL V1.0 Schematic Sheet 3/6

  • LisaL V1.0 Schematic Sheet 4/6

  • LisaL V1.0 Schematic Sheet 5/6

  • LisaL V1.0 Schematic Sheet 6/6

Lisa/L v1.1

LisaL V1.1 Schematic Sheets 1 .. 6

  • LisaL V1.1 Schematic Sheet 1/6

  • LisaL V1.1 Schematic Sheet 2/6

  • LisaL V1.1 Schematic Sheet 3/6

  • LisaL V1.1 Schematic Sheet 4/6

  • LisaL V1.1 Schematic Sheet 5/6

  • LisaL V1.1 Schematic Sheet 6/6

LisaL V1.1 place Ppans front and back

  • LisaL V1.1 Placeplan Front

  • LisaL V1.1 Placeplan Back


Examples of Airborne Equipment Electrical Connections

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

R/C Receivers

Spektrum/JR remote receiver connection diagram

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

Lisa L V1 1 satellite receiver connection.png

PPM Remote receiver

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

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


PCB

Gerber & Drill Files

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

Assembly

Components Layout

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

Bill Of Material

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

PCB and assembled boards suppliers

Available on Get Hardware page, hopefully :)


Mechanical Dimensions

Lisa/L's four mounting holes fit M3 screws or standoffs. Their centers are in a square 43.8mm on a side.

NEED LISA/L MECHANICAL DRAWING.

Downloads

Source files

Gerber & Drill files

  • download NOT YET AVAILABLE Need generated gerbers and drill files

Assembly files

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

JTAG

JTAG can be used to upload firmware through the onboard JTAG interface. It can also be used for debugging. It appears as the second USB device of Lisa/L, so if you don't have anything else connected as /dev/ttyUSB1

Serial Firmware Upload

Now a boot sequence works as follows:

  1. BOOT0 has to be set to 3.3V by use of a jumper cable
  2. Connect a 3,3V serial cable (FTDI, MAX232...) to UART1.
  3. Power the board and activate the bootloader program

In the target section of the airframe file. 

 <target name="ap" board="lisa_l_1.1">
 <configure name="FLASH_MODE" value="SERIAL"/>

Then upload as usual...

Detailed Hardware Revision History

NEED DETAILS BETWEEN VERSIONS HERE!!!

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