User/LisaL
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This page describe how to use Lisa/L from a user point of view
Getting started
- Install Gnu/Linux Ubuntu lucid lynx ( 10.04) and the paparazzi-dev, paparazzi-stm32 packages and paparazzi-omap( Installation from the Command Line: on this page Installation ).
sudo apt-get update sudo apt-get install paparazzi-dev paparazzi-stm32 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 here.
- We now have a Overo toolchain package ! install the paparazzi-omap package. If you feel it's too easy, you can look at 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 here and follow the instruction from here to write them on a micro sd card.
- Flash the STM32 with the link test program
make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
- Compile and upload the Overo test program ( assuming you already have the overo toolchain and network... mmmm... more about that soon...)
make AIRCRAFT=BOOZ2_A6 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.