Difference between revisions of "Lisa/M v2.0"
m |
(→Pinout: updated for V_IN on uart3 connector, not 5V. Added details about powering board, why never to exceed 5V.) |
||
| Line 92: | Line 92: | ||
|1||GND||PWR||common ground||style="background:black; color:white"|Black | |1||GND||PWR||common ground||style="background:black; color:white"|Black | ||
|- | |- | ||
|2|| | |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 | |3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow | ||
| Line 312: | Line 312: | ||
[[Image:LisaM_warning_label.png|right|200px]] | [[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, 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 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. | 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 VBAT_max = 3.3*10k/2.2k = 15V. 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). | 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 VBAT_max = 3.3*10k/2.2k = 15V. 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). | ||
Revision as of 20:20, 15 March 2012
Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated 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:
Hardware Revision History
| 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 see below.
Features
Lisa/M is based on the 64 pins STM32F105RCT6 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 high-density performance line family.
- STM32 microcontroller STM32F105RCT6 datasheet with 256kB flash and 64kB RAM
- Pressure sensor 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 SPI bus
- 1 x I2C 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.
Lisa/M V2.0 top view
Lisa/M V2.0 bottom view
Pinout
Pins Name and Type are specified with respect to the Autopilot Board.
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | SERVOx | OUT | Servo signal (PWM)(See Note 1 below) | Yellow |
| 2 | SV | PWR | Servo Bus Voltage Rail (conf w/ JP1) | Red |
| 3 | GND | PWR | common ground | Black |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | N/A | N/A | JTAG Debug Header (Pin 1 is +3V3) | None |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | V_IN | PWR | UART Voltage (conf w/ JP6 and JP7) | Red |
| 3 | TX | OUT | USART3 Serial Output (3.3V level) | Yellow |
| 4 | RX | IN | USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant) | Orange |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot (conf w/ JP8 and JP9) | Red |
| 3 | RX1 | IN | USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant) | Orange |
| 4 | GND | PWR | common ground | Black |
| 5 | +3V3 | PWR | 3.3V Rail from autopilot (conf w/ JP8 and JP9) | Red |
| 6 | RX5 | IN | UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant) | Orange |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 4 | PC12 | I/O | GPIO, connected to PC12 (5V tolerant) | Dark Tan |
| 5 | TRST | I/O | JTAG_TRST (also connected to LED1 cathode) | Light Tan |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | +5V | PWR | 5V Rail from autopilot | Red |
| 4 | ADC4 | I/O | ADC4, by default connected to LED7 cathode (Remove LED/resistor to use as ADC) | Magenta |
| 5 | ADC6 | I/O | ADC6, by default connected to LED8 cathode (Remove LED/resistor to use as ADC) | Pink |
| 6 | BOOT0 | I/O | BOOT0 | Grey |
| Pin # | Name | Type | Description | 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) | None |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | V_BATT | PWR | V_BAT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN) | Red |
| 3 | V_IN | PWR | Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3) | Red |
| 4 | CANL | I/O | CANL (5V level) | Orange |
| 5 | CANH | I/O | CANH (5V level) | Yellow |
| 6 | SCL | I/O | SCL (5V level)(See Note 1 below) | Green |
| 7 | SDA | I/O | SDA (5V level)(See Note 1 below) | Blue |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | MOSI | Out | MOSI | Orange |
| 4 | MISO | In | MISO | Yellow |
| 5 | SCK | Out | SCK | Green |
| 6 | SS | Out | SS | Blue |
| 7 | DRDY | I/O | DRDY | Dark Tan |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | +5V | PWR | 5V Rail from autopilot | Red |
| 4 | ADC1 | In | ADC1 | Green |
| 5 | ADC2 | In | ADC2 | Blue |
| 6 | ADC3 | In | ADC3 | Light Tan |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | UART Voltage (conf w/ JP4 and JP5) | Red |
| 3 | TX | OUT | USART2 Serial Output (3.3V level) | Yellow |
| 4 | RX | IN | USART2 Serial Input (3.3V level)(NOT 5V TOLERANT)(Pullup to Pin 2 voltage) | Orange |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | SCL | I/O | SCL (3.3V level) | Green |
| 4 | SDA | I/O | SDA (3.3V level) | 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 all UART header VCC pins at +3V3, with the V_SERVO servo voltage rail connected to the autopilot V_IN rail, allowing one to power the autopilot from the servo power. 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.
Lisa/M v2.0 Top Jumpers and LEDs
Lisa/M v2.0 Bottom Jumpers
| Jumper | Bus Connection | Default | Description |
|---|---|---|---|
| JP1 | SERVO_BUS to V_IN | CLOSED | 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 |
| Jumper | Bus Connection | Default | Description |
|---|---|---|---|
| JP6 | UART3_VCC to V_IN | 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!!!
| Jumper | Bus Connection | 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 | 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!!!
| Jumper | Bus Connection | 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 | 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 schematic and layout for more information.
Powering the Board
The 3.3V regulator on Lisa/M is a 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 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 VBAT_max = 3.3*10k/2.2k = 15V. 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).
Schematic
LisaM V2.0 Schematic Sheet 1/3
LisaM V2.0 Schematic Sheet 2/3
LisaM V2.0 Schematic Sheet 3/3
Examples of Airborne Equipment Electrical Connections
Small Aircraft Connection Diagram
Need an Umarim_v1.0-style ( here) small aircraft airborne equipment electrical connections here.
Large Aircraft Connection Diagram
Need an Umarim V1.0-style ( here) large aircraft airborne equipment electrical connections diagram here.
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 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 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/M v2.0 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
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: 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
Paparazzi USB Bootloader Upload
There is currently not a bootloader for STM32-based autopilots. Work is underway to remedy this, see Luftboot on GitHub. Right now, one must use JTAG to load firmware to the board.
Required components
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 debugging information;
- JTAG usage, includes Eclipse uplink tutorial.
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 --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.