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.

**SERVO1/2/3/4/5/6/7**
Pin #	Name	Type	Description	Color
1	SERVOx	OUT	Servo signal (PWM)	Yellow
2	SV	PWR	Servo Bus Voltage Rail (conf w/ JP1)	Red
3	GND	PWR	common ground	Black

**JTAG**
Pin #	Name	Type	Description	Color
1	N/A	N/A	JTAG Debug Header	None

**UART1**
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

**UART3/5**
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)(5V tolerant)	Orange
4	GND	PWR	common ground	Black
5	+3V3	PWR	3.3V Rail from autopilot	Red
6	RX5	IN	UART5 Serial Input (3.3V level)(5V tolerant)	Orange

**GPIO**
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 = LED 5	Pink
4	PC12	I/O	GPIO PC12 = LED 4	Dark Tan
5	TRST	I/O	JTAG_TRST = LED1	Light Tan

**ANALOG2 (if Populated)**
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

**USB**
Pin #	Name	Type	Description	Color
1	N/A	N/A	USB	None

**I2C1 CAN**
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)	Green
7	SDA	I/O	SDA (5V level)	Blue

**SPI1**
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

**ANALOG1**
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

**UART2**
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)(NOT 5V TOLERANT)	Orange

**I2C2**
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

Jumper Configuration

There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

Lisa/M v1.0 Top Jumpers and LEDs
Lisa/M v1.0 Bottom Jumpers

**Power Jumper Configuration**
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

**UART1 VCC Configuration**
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!!!

**UART2 VCC Configuration**
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!!!

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 convenient since it takes a special adapter. But this adapter makes it more convenient 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 very 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 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.

USB usage Notes for v1.0

Lisa/M v1.0's USB circuit is not working out of the box. If you wish to use it for example in the combination with Luftboot you will need to make some slight hardware modifications to the board.

You need to remove pull-up resistors on USB_DM and USB_DP lines (R27 and R28)
While using the USB interface you need to have UART1_TX connected to 3v3 or USB_VBUS (This means you can not transfer data to the GPS while using USB)
Optionally you can also remove R14 and Q2

The GPS UART (UART1) and USB collision was fixed as of Lisa/M v2.0 where the usage of UART1 was swapped with UART3.

To use Luftboot on Lisa/M 1.0 then follow instructions for Luftboot after these hardware modifications.

Lisa/M v1.0

Contents

Hardware Revision History

Features