Difference between revisions of "AspirinIMU"

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[[Image:Aspirin imu front.jpg|thumb|Aspirin IMU front]]
<div style="float: right; width: 45%; overflow: hidden">[[Image:Aspirin_2.1_imu_front.jpg|right|200px|Aspirin V2.1 top view]]</div>
[[Image:Aspirin imu front with scale.jpg|thumb|Aspirin IMU front with scale]]
__TOC__
[[Image:Aspirin imu back.jpg|thumb|Aspirin IMU back]]
 
[[Image:Aspirin imu on carrier.JPG|thumb|Aspirin IMU on [[User/LisaL|Lisa/L]] compatible carrier board.]]
[[Image:Aspirin IMU documented.jpg|thumb|Aspirin IMU with documented IO connections.]]
[[Image:Aspirin imu schematic V1 3.png|thumb|Aspirin IMU V1.3 schematic]]


== Aspirin IMU ==
== Aspirin IMU ==


The next generation flat 9 degree of freedom inertial measurement unit. It uses digital 3 - axis sensors which allow for a very small size and price.
The next generation flat multi degree of freedom inertial measurement unit. It uses digital 3-axis sensors which allow for a very small size and price. Other features include onboard voltage regulators, EEPROM for storing calibration data and extra sensors such as a barometer.
 
== Hardware Revision History ==
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.2(current)||09/2012||2nd Gen Revision
|-
|v2.1r1||08/2012||2nd Gen Minor Revision
|-
|v2.1||03/2012||2nd Gen Production Release
|-
|v2.0||11/2011||2nd Gen Prototype
|-
|v1.5||04/2011||Updated Production Release
|-
|v1.4||03/2011||Prototype Update
|-
|v1.3||08/2010||Initial Production Release
|-
|v1.2||07/2010||Prototype Update
|-
|v1.1||07/2010||Prototype Update
|-
|v1.0||07/2010||Initial Prototype
|}
 
== Features ==
 
* 3-axis accelerometer
* 3-axis gyroscope
* 3-axis magnetometer
* Onboard voltage regulation
* Onboard I2C EEPROM
* Onboard barometer (''v2.1'')
* Standard footprint across versions
* Single PCB flat form-factor
* Fits directly onto [[Lisa/M]], carriers for [[Booz]] and [[Lisa/L]], or for [[Autopilots|LPC21xx]] integration
 
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Aspirin Feature Matrix'''
!width="6%"|''Version''!!width="10%"|''Accelerometer''!!width="10%"|''Gyroscope''!!width="10%"|''Magnetometer''!!width="10%"|''Barometer''!!width="15%"|''Regulators''!!width="10%"|''EEPROM''!!''Comments''
|-
|v2.2||MPU-6000||MPU-6000||HMC5883||MS5611||1x 3.3V (LP2992)||yes||MS5611 is connected directly to the SPI bus
|-
|v2.1||MPU-6000||MPU-6000||HMC5883||MS5611||1x 3.3V (LP2992)||yes||MS5611 is connected to the aux I2C of the MPU6000
|-
|v2.0||MPU-6000||MPU-6000||HMC5883||none||1x 3.3V (LP2992)||yes||
|-
|v1.5||ADXL345||IMU-3000||HMC5883||none||2x 3.3V (LP2992)||yes||
|-
|v1.4||ADXL345||IMU-3000||HMC5883||none||2x 3.3V (LP2992)||yes||
|-
|v1.3||ADXL345||ITG-3200||HMC5843||none||2x 3.3V (LP2992)||yes||
|-
|v1.2||ADXL345||ITG-3200||HMC5843||none||2x 3.3V (LP2992)||yes||
|-
|v1.1||ADXL345||ITG-3200||HMC5843||none||2x 3.3V (LP2992)||yes||
|-
|v1.0||ADXL345||ITG-3200||HMC5843||none||2x 3.3V (LP2992)||yes||Also has SC18IS600 SPI-I2C interface
|}
 
'''Note:''' Aspirin 2.1 comes in several population versions. The current version available at http://transition-robotics.com has the MPU-6000, HMC5843, and MS5611-01BA03 mounted. You can find the list of fitted sensors on Aspirin 2.1 in the eeprom block 4.


* 3 axis accelerometer ADXL345
<gallery widths=170px heights=120px>
* 3 axis gyroscope IMU-3000
Image:Aspirin imu front.jpg|Aspirin V1.3 IMU front
* 3 axis magnetometer HMC5843
<!--Image:Aspirin imu front with scale.jpg|Aspirin IMU front with scale-->
Image:Aspirin imu back.jpg|Aspirin V1.3 IMU back
Image:Aspirin imu on carrier.JPG|Aspirin V1.3 IMU on [[Lisa/L]] compatible carrier board
Image:LisaL_Aspirin_Flat_Carrier.jpg|Aspirin flat carrier board for [[Lisa/L]] (without IMU mounted)
</gallery>


== Support ==
<gallery widths=220px heights=150px>
Image:Aspirin_2.1_bottom.jpg|Aspirin IMU 2.1 bottom side
Image:Aspirin_2.1_top.jpg|Aspirin IMU 2.1 top side
Image:Aspirin_2.1_nobaro_top.jpg|Aspirin IMU 2.1 top side no barometer mounted
Image:Aspirin_2.1_nomag_nobaro_top.jpg|Aspirin IMU 2.1 top side no barometer and no magnetometer mounted
</gallery>
 
== Pinout ==
 
Note that Aspirin uses a standard footprint and pinout across all versions, with certain exceptions. The chip select (CS) and interrupt (Int) pins are not always assigned to the same devices. A good example is with the introduction of the MPU-6000 device. Check the schematics for details.
 
'''Warning:''' When mounting Aspirin on Lisa/M note that the pin labeled GND on Aspirin (in the right upper corner on the following picture) is connected on Lisa/M to GYRO_SS. To prevent a software error induced shorting of the Lisa/M GYRO_SS pin to ground, remove the castellation or remove the connection on that pad.
 
In the v2.1r1 versions of Aspirin ("R1" silkscreened onto PCB) the right upper GND pad was changed to Not Connected, (marked RESV in the below image), resolving the issue.
 
[[Image:Aspirin IMU documented.jpg|300px|Aspirin IMU with documented IO connections.]]
[[Image:Aspirin_booz_carrier_legend.jpg|300px|Aspirin IMU on booz/breakout carrier with documented IO connections.]]
[[Image:Aspirin_flat_carrier_legend.jpg|300px|Aspirin IMU on flat carrier with documented IO connections.]]
 
Note that the 12-pin connector pinout of the Booz/breakout carrier (center) is reversed with respect to the Lisa/L flat carrier (right). This is because the Booz carrier mounts to Lisa/L with the Aspirin underneath the carrier (e.g., Z axis pointing toward Lisa/L), and the flat carrier mounts to Lisa/L with the Aspirin on top (e.g., Z axis pointing away from Lisa/L).
 
=== Breakout board ===
 
In case you have some Aspirin lying around and you want to use the on a non Lisa Board, like the TWOG, here pictures of how to patch the breakoutboard. Then connect to TWOG and add the correct defines to your airframe configuration document.
 
<gallery>
Image:Aspirin_v1.5_via_AsCa_v1.0_to_TWOG_03.jpg |Aspirin v1.5 via AsCa v1.0 to TWOG
Image:Aspirin_v1.5_via_confboard_to_TWOG_01.jpg |Aspirin v1.5 via confboard to TWOG
Image:Aspirin_v1.5_via_confboard_to_TWOG_02.jpg |Aspirin v1.5 via confboard to TWOG bottom
Image:Aspirin_v1.5_via_Patching_the_Breakout_Board.jpg |Aspirin v1.5 via Patching the Breakout Board
Image:Aspirin_v1.5_Connector_To_TWOG_Board.jpg |Aspirin v1.5 Connector To TWOG Board
</gallery>
 
== Block Diagrams ==
 
<gallery widths=300px heights=300px>
Image:Aspirin-1_x-stm32-block_diagram.png|Aspirin 1.x to STM32 protocol connections
Image:Aspirin-2_x-stm32-slave_i2c-block_diagram.png|Aspirin 2.x to STM32 default protocol connections (MPU-6000 slave I2C)
Image:Aspirin-2_x-stm32-direct_i2c-block_diagram.png|Aspirin 2.x to STM32 alternative protocol connections (STM32 direct I2C)
</gallery>
 
== Schematics ==
 
Schematics are available under {{CC-BY-SA-3.0}} license. For additional intermediate schematics see [[AspirinIMU#Downloads|Downloads]].
 
<gallery widths=200px heights=137px>
Image:Aspirin_imu_schematic_V1_3.png|Aspirin IMU V1.3 schematic
Image:Aspirin_imu_schematic_V1_5.png|Aspirin IMU V1.5 schematic
Image:Aspirin_imu_schematic_V2_1.png|Aspirin IMU V2.1 schematic
Image:Aspirin_imu_schematic_V2_2.png|Aspirin IMU V2.2 schematic
</gallery>
 
== Drivers and Support ==
 
Please see the [[Subsystem/imu|IMU subsystem]] page for details on configuring Paparazzi for using an Aspirin IMU.


The drivers for this IMU are available in the [https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/imu/imu_aspirin.c Paparazzi GitHub repository].
The drivers for this IMU are available in the [https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/imu/imu_aspirin.c Paparazzi GitHub repository].


== Schematics ==
== PCB and assembled boards suppliers ==
 
Aspirin IMU is available in the [http://thequadshot.com/collections/all Transition Robotics/Quadshot Online Shop].
 
There are three options of Aspirin IMU:
* [http://thequadshot.com/products/aspirin-imu Without a carrier board]
* [http://thequadshot.com/products/aspirin-imu With Booz carrier board]
* [http://thequadshot.com/products/aspirin-imu With next generation flat carrier board]
** [http://thequadshot.com/products/lisa-l-aspirin-flat-carrier The flat carrier board can be purchased separately as well]
 
== Mechanical Dimensions ==
 
[[Image:Aspirin_top_mechanical.png|500px|Aspirin Footprint Mechanical Dimensions]]


Schematics are available under {{CC-BY-SA-3.0}} license.
The overall height of the board is about 3mm.


== Availability ==
== Downloads ==


Aspirin IMU is available in the  [https://www.jobyrobotics.com/category.php?id_category=5 Joby Robotics Online Shop].
'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/sensors/imu/aspirin Aspirin IMU and Carrier Board Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Aspirin Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Aspirin Bill Of Material


There are two options of Aspirin IMU:
[[Category:Hardware]] [[Category:User_Documentation]]
* [https://www.jobyrobotics.com/product.php?id_product=42 Without a carrier board]
* [https://www.jobyrobotics.com/product.php?id_product=13 With carrier board]

Latest revision as of 08:58, 11 July 2017

Aspirin V2.1 top view


Aspirin IMU

The next generation flat multi degree of freedom inertial measurement unit. It uses digital 3-axis sensors which allow for a very small size and price. Other features include onboard voltage regulators, EEPROM for storing calibration data and extra sensors such as a barometer.

Hardware Revision History

Version # Release Date Release Notes
v2.2(current) 09/2012 2nd Gen Revision
v2.1r1 08/2012 2nd Gen Minor Revision
v2.1 03/2012 2nd Gen Production Release
v2.0 11/2011 2nd Gen Prototype
v1.5 04/2011 Updated Production Release
v1.4 03/2011 Prototype Update
v1.3 08/2010 Initial Production Release
v1.2 07/2010 Prototype Update
v1.1 07/2010 Prototype Update
v1.0 07/2010 Initial Prototype

Features

  • 3-axis accelerometer
  • 3-axis gyroscope
  • 3-axis magnetometer
  • Onboard voltage regulation
  • Onboard I2C EEPROM
  • Onboard barometer (v2.1)
  • Standard footprint across versions
  • Single PCB flat form-factor
  • Fits directly onto Lisa/M, carriers for Booz and Lisa/L, or for LPC21xx integration
Aspirin Feature Matrix
Version Accelerometer Gyroscope Magnetometer Barometer Regulators EEPROM Comments
v2.2 MPU-6000 MPU-6000 HMC5883 MS5611 1x 3.3V (LP2992) yes MS5611 is connected directly to the SPI bus
v2.1 MPU-6000 MPU-6000 HMC5883 MS5611 1x 3.3V (LP2992) yes MS5611 is connected to the aux I2C of the MPU6000
v2.0 MPU-6000 MPU-6000 HMC5883 none 1x 3.3V (LP2992) yes
v1.5 ADXL345 IMU-3000 HMC5883 none 2x 3.3V (LP2992) yes
v1.4 ADXL345 IMU-3000 HMC5883 none 2x 3.3V (LP2992) yes
v1.3 ADXL345 ITG-3200 HMC5843 none 2x 3.3V (LP2992) yes
v1.2 ADXL345 ITG-3200 HMC5843 none 2x 3.3V (LP2992) yes
v1.1 ADXL345 ITG-3200 HMC5843 none 2x 3.3V (LP2992) yes
v1.0 ADXL345 ITG-3200 HMC5843 none 2x 3.3V (LP2992) yes Also has SC18IS600 SPI-I2C interface

Note: Aspirin 2.1 comes in several population versions. The current version available at http://transition-robotics.com has the MPU-6000, HMC5843, and MS5611-01BA03 mounted. You can find the list of fitted sensors on Aspirin 2.1 in the eeprom block 4.

  • Aspirin V1.3 IMU front

  • Aspirin V1.3 IMU back

  • Aspirin V1.3 IMU on Lisa/L compatible carrier board

  • Aspirin flat carrier board for Lisa/L (without IMU mounted)

  • Aspirin IMU 2.1 bottom side

  • Aspirin IMU 2.1 top side

  • Aspirin IMU 2.1 top side no barometer mounted

  • Aspirin IMU 2.1 top side no barometer and no magnetometer mounted

Pinout

Note that Aspirin uses a standard footprint and pinout across all versions, with certain exceptions. The chip select (CS) and interrupt (Int) pins are not always assigned to the same devices. A good example is with the introduction of the MPU-6000 device. Check the schematics for details.

Warning: When mounting Aspirin on Lisa/M note that the pin labeled GND on Aspirin (in the right upper corner on the following picture) is connected on Lisa/M to GYRO_SS. To prevent a software error induced shorting of the Lisa/M GYRO_SS pin to ground, remove the castellation or remove the connection on that pad.

In the v2.1r1 versions of Aspirin ("R1" silkscreened onto PCB) the right upper GND pad was changed to Not Connected, (marked RESV in the below image), resolving the issue.

Aspirin IMU with documented IO connections. Aspirin IMU on booz/breakout carrier with documented IO connections. Aspirin IMU on flat carrier with documented IO connections.

Note that the 12-pin connector pinout of the Booz/breakout carrier (center) is reversed with respect to the Lisa/L flat carrier (right). This is because the Booz carrier mounts to Lisa/L with the Aspirin underneath the carrier (e.g., Z axis pointing toward Lisa/L), and the flat carrier mounts to Lisa/L with the Aspirin on top (e.g., Z axis pointing away from Lisa/L).

Breakout board

In case you have some Aspirin lying around and you want to use the on a non Lisa Board, like the TWOG, here pictures of how to patch the breakoutboard. Then connect to TWOG and add the correct defines to your airframe configuration document.

  • Aspirin v1.5 via AsCa v1.0 to TWOG

  • Aspirin v1.5 via confboard to TWOG

  • Aspirin v1.5 via confboard to TWOG bottom

  • Aspirin v1.5 via Patching the Breakout Board

  • Aspirin v1.5 Connector To TWOG Board

Block Diagrams

  • Aspirin 1.x to STM32 protocol connections

  • Aspirin 2.x to STM32 default protocol connections (MPU-6000 slave I2C)

  • Aspirin 2.x to STM32 alternative protocol connections (STM32 direct I2C)

Schematics

Schematics are available under Cc-by-sa-3-0.png license. For additional intermediate schematics see Downloads.

  • Aspirin IMU V1.3 schematic

  • Aspirin IMU V1.5 schematic

  • Aspirin IMU V2.1 schematic

  • Aspirin IMU V2.2 schematic

Drivers and Support

Please see the IMU subsystem page for details on configuring Paparazzi for using an Aspirin IMU.

The drivers for this IMU are available in the Paparazzi GitHub repository.

PCB and assembled boards suppliers

Aspirin IMU is available in the Transition Robotics/Quadshot Online Shop.

There are three options of Aspirin IMU:

Mechanical Dimensions

Aspirin Footprint Mechanical Dimensions

The overall height of the board is about 3mm.

Downloads

Source files

Gerber & Drill files

  • download NOT YET AVAILABLE Need generated gerbers and drill files

Assembly files

  • download NOT YET AVAILABLE Need Aspirin Components layouts (pdf)
  • download NOT YET AVAILABLE Need Aspirin Bill Of Material
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