Lisa/M v1.0
NOTE: THERE IS A NEW VERSION OF LISA/M AVAILABLE
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 |
|---|---|---|
| v1.0 | MM/YYYY | Lisa/M 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)
- 7 x Servo PPM outputs
- 1 x CAN bus
- 1 x SPI bus
- 1 x I2C bus
- 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)
- ~33mm x ~56mm x ~10mm
- 4 layers PCB design
with mounted Aspirin 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).
In short, you only need to add a high quality GPS module and then you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.
Lisa/M V1.0 top view
Lisa/M V1.0 bottom view
Lisa/M V1.0 top view
Lisa/M V1.0 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) | Yellow |
| 2 | SV | PWR | Servo Bus Voltage Rail | Red |
| 3 | GND | PWR | common ground | Black |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | N/A | N/A | JTAG Debug Header | None |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | UART Voltage (conf w/ JP6 and JP7) | Red |
| 3 | TX | OUT | USART1 Serial Output (3.3V level) | Yellow |
| 4 | RX | IN | USART1 Serial Input (3.3V level, 5V Tolerant???) | Orange |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | RX3 | IN | USART3 Serial Input (3.3V level) | Orange |
| 4 | GND | PWR | common ground | Black |
| 5 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 6 | RX5 | IN | USART5 Serial Input (3.3V level) | Orange |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | +3V3 | PWR | 3.3V Rail from autopilot | Red |
| 3 | PC10 | I/O | GPIO PC10 | Pink |
| 4 | PC12 | I/O | GPIO PC12 | Dark Tan |
| 5 | TRST | I/O | JTAG_TRST | 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 | Magenta |
| 5 | ADC6 | I/O | ADC6 | Pink |
| 6 | BOOT | I/O | BOOT | Grey |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | N/A | N/A | USB | 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, (use 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 | Orange |
| 5 | CANH | I/O | CANH | Yellow |
| 6 | SCL | I/O | SCL | Green |
| 7 | SDA | I/O | SDA | 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 | ADC4 | Green |
| 5 | ADC2 | In | ADC6 | Blue |
| 6 | ADC3 | In | BOOT | Light Tan |
| Pin # | Name | Type | Description | Color |
|---|---|---|---|---|
| 1 | GND | PWR | common ground | Black |
| 2 | VCC | 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, 5V Tolerant???) | 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 | Green |
| 4 | SDA | I/O | SDA | Blue |
Jumper Configuration
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.
NEED TABLES AND DESCRIPTION OF JUMPER CONFIGURATION. CHECK THIS, UNVERIFIED.
| Jumper | Bus Connection | Default | Description |
|---|---|---|---|
| JP1 | SERVO_BUS to V_IN | OPEN | Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail on I2C1/CAN connector |
| 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 | UART1_VCC to V_IN | OPEN | Connects UART1 connector VCC to autopilot input voltage V_IN rail |
| JP7 | UART1_VCC to +3V3 | CLOSED | Connects UART1 connector VCC to autopilot +3V3 rail |
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 |
| JP5 | UART2_VCC to +3V3 | CLOSED | Connects UART2 connector VCC to autopilot +3V3 rail |
WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!
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, 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.
Schematic
LisaM V1.0 Schematic Sheet 1/3
LisaM V1.0 Schematic Sheet 2/3
LisaM V1.0 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 v1.0 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 v1.0 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
Downloads
Source files
- download available on GitHub: Lisa/M v1.0 Cadsoft Eagle 5.x Design
Gerber & Drill files
- download NOT YET AVAILABLE Need generated gerbers and drill files
Assembly files
- download NOT YET AVAILABLE Need Lisa/M v1.0 Components layouts (pdf)
- download NOT YET AVAILABLE Need Lisa/M v1.0 Bill Of Material
Upload firmware
Uploading firmware onboard USB is not possible with this boart. The boords need hardware modification to make it possible. A very nice way to upload, a.k.a. flashing new Paparazzi code to the board is to use a JTAG adapter. Less convinient since it tke aspecial adapte. But this adapter makes it more conveniet when testing one does not need to repower the board to reflash. And flashing via JTag cable is very fast. Also debugging the autopilot is ver handy with JTAG.
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 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.