Difference between revisions of "Lisa/L"

Latest revision as of 18:15, 2 August 2013

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

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.

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.

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

download available on GitHub: 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 debugging information;
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!!!

@@ Line 16: / Line 16: @@
 For differences between versions, please [[Lisa/L#Detailed_Hardware_Revision_History|see below]].
-== Features ==
+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].
-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].
+Features:
 * STM32 microcontroller (CortexM3@72Mhz) [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00191185.pdf STM32F103RE datasheet]
-* ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
+* 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
@@ Line 28: / Line 27: @@
 * 2x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
 * 2x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] bus
-* ?x USB (client)
+* 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
 * 1x absolute pressure sensor (for altitude)
 * 1x differential pressure sensor (for airspeed)
@@ Line 37: / Line 36: @@
 * 1x Gumstix Overo Mount
 * 1x IMU mount
-* ? grams (? oz)
+* 30 grams (1.1 oz), not including Aspirin IMU or Gumstix Overo COM
-* dimensions
+* 50mm x 90mm (2in x 3.6in)
-* 4 layers PCB design
+* 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|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.
-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 Aspiring IMU.
 <gallery widths=360px heights=255px>
@@ Line 110: / Line 111: @@
 ==== Spektrum/JR remote receiver connection diagram ====
-There is Spektrum parser available already, enabling the direct use of 1 or 2 Spektrum satellite receivers.
+There is a Spektrum parser available, enabling the direct use of 1 or 2 Spektrum satellite receivers.
 [[Image:Lisa_L_V1_1_satellite_receiver_connection.png|500px]]
@@ Line 147: / Line 148: @@
 == 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.
@@ Line 161: / Line 164: @@
 == JTAG ==
-JTAG can be used to upload firmware through the onboard JTAG interface. It can also be used for debugging.
+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.
-== Detailed Hardware Revision History ==
+==Serial Firmware Upload==
-NEED DETAILS BETWEEN VERSIONS HERE!!!
-----
+Now a boot sequence works as follows:
-----
+#BOOT0 has to be set to 3.3V by use of a jumper cable
-=Getting Started=
+#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1.
+#Power the board and activate the bootloader program
-* Install Gnu/Linux Ubuntu and the paparazzi-dev, paparazzi-arm-multilib packages and paparazzi-omap( Installation from the Command Line: on this page [[Installation/Linux]] for linux, see [[Installation]] for other OSes).
+In the target section of the airframe file.
- 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 ===
+  <target name="ap" board="lisa_l_1.1">
-* 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].
+  <configure name="FLASH_MODE" value="SERIAL"/>
-* We now have a Overo toolchain package ! install the paparazzi-omap package.
- sudo apt-get install paparazzi-omap
-If you feel it's too easy, you can look at [http://paparazzi.enac.fr/wiki/LisaOveroImage here] and enjoy the fun of compiling openembedded yourself
-* In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from [http://paparazzi.enac.fr/overo/ here] and follow the instruction from [http://www.gumstix.net/Setup-and-Programming/view/Overo-Setup-and-Programming/Creating-a-bootable-microSD-card/111.html here] to write them on a micro sd card.
-When you want the files to be downloaded en written on the SD do:
+Then upload as usual...
- cd ~/sw/tools/overo_sd_maker/
+== Detailed Hardware Revision History ==
- sw/tools/overo_sd_maker
- sudo ./overo_sd_maker.sh
+NEED DETAILS BETWEEN VERSIONS HERE!!!
-* Once you have written your OS image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.
-Install the Kermit application via:
- $ sudo apt-get install ckermit
-Then start up Kemit terminal application do:
- $ kermit -l /dev/ttyUSB0
- C-Kermit>set flow-control none
- C-Kermit>set carrier-watch off
- C-Kermit>set speed 115200
- /dev/ttyUSB0, 115200 bps
- C-Kermit>connect
- Connecting to /dev/ttyUSB0, speed 115200
- Escape character: Ctrl-\ (ASCII 28, FS): enabled
- Type the escape character followed by C to get back,
- or followed by ? to see other options.
-When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:
- overo login: root
- root@overo:~#
-* One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
-* Flash the STM32 with the link test program
-  make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
-* Compile and upload the Overo test program.
-  make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
-* Log on your Overo and run it
-===Use case #1: the fixedwing firmware running in the STM32 only===
-Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml
-===Use case #2: the rotorcraft firmware running in the STM32 only===
-Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.
-    make AIRCRAFT=BOOZ2_A7 ap.upload
-===Use case #3: the lisa_passthrough firmware===
-This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.
-The stm_passthrough target is what is ran on the STM32.
-The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.
-[[Category:Lisa]] [[Category:User_Documentation]]
+[[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]

Difference between revisions of "Lisa/L"

Latest revision as of 18:15, 2 August 2013

Contents

Hardware Revision History