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= Introduction =
#REDIRECT [[Lisa/M v2.0]]
If you consider yourself a developer this flexible piece of UAS hardware is for you. If you enjoy writing software and consider yourself an early adopter this is the board to use. Have fun implementing and extending the already great features. To show of your work and also to ask questions, you are welcomed on the paparazzi mailinglist, this Wiki and the freenode paparazzi IRC channel. This nice piece of hardware can be used for various purposes. Ofcourse as an Autopilot board, but only by uploading another firmware also a servo extension board and more. A good idea of how this nice piece of hardware looks like is shown on the Photos here. If you are not so interested in all of this at the moment since you just have this shiny new board on you desk and want to connect and fly the thing, then go to the page [http://paparazzi.enac.fr/wiki/User/LisaM/Tutorial/FixedWing using the board as an '''Autopilot''' for an airplane] or go [http://paparazzi.enac.fr/wiki/User/LisaM/Tutorial/RotorCraft here for uses a an '''Autopilot''' in a quadrotor]
[[Image:Lisa_M_V1_0_top_with_coin.jpg|thumb|Lisa/M V1.0 top view]]
[[Image:Lisa_M_V1_0_bottom_with_coin.jpg|thumb|Lisa/M V1.0 bottom view]]
[[Image:Lisa_M_V1_0_top.jpg|thumb|Lisa/M V1.0 top view]]
[[Image:Lisa_M_V1_0_bottom.jpg|thumb|Lisa/M V1.0 bottom view]]
= Initial Setup =
[[User/LisaM/Tutorial/FixedWing]] An airplane or just plane.
[[User/LisaM/Tutorial/RotorCraft]] everything that flies via moving blades, for example Helicopter, Quadcopter or something alike
= Features =
== Overview ==
* Single [http://www.st.com/stm32 STM32 MCU]
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm 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 [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 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 IMU has the following additional sensors on board:
* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer
== Footprint ==
This autopilot is very small. The footprint is only 33mm by 56mm by 10mm including the servo connector pins. It will fit in a small UAS very well. There is a spot for mounting the [http://paparazzi.enac.fr/wiki/AspirinIMU Aspirin IMU] directly on board.
== MCU ==
== Onboard IMU ==
The Lisa/M comes with [http://paparazzi.enac.fr/wiki/AspirinIMU Aspirin IMU] mounted, for easy attitude estimation in the smallest package possible.
== JTAG ==
* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.
= 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
* ...
== 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
* Removed USART3 TX gpio from the GPIO connector and moved to the GPS connector
* 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 the RC RX connector a bit; to prevent crashing with the jtag plug
* 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 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
* Added pullups on all UART RX lines to prevent undesired floatation.
* ...
= Hardware update 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: It is considered as an update to a future version of lisa/m not V2.0 --[[User:Esden|Esden]] 02:24, 18 November 2011 (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.
= Architecture =
= Usage scenarios =
For regular Autopilot boards a full Lisa/M board is needed. For some scenarios just a basic Lisa/M without [[Inertial_Measurement_Units|IMU]] and [[Airspeed_sensor|pressure sensor]] is needed, this makes the board cheaper of course.
== As a basic Autopilot ==
To use the Lisa/M as an autopilot, we need to attach a GPS receiver. A nice [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] or newer will perform great.
== As and advanced Autopilot ==
Currently UART3 outlet is used to talk to GPS reciever.
== As a servo extender ==
== As a Safety Pilot Device ==
== As a Data Logger ==
== As a Camera controller ==
== As a Airframe Tracker ==
= Pinout =
Pins Name and Type are specified with respect to the Autopilot Board
= Schematic =
Image:Lisa_m_v1_0_sheet_1.png | LisaM V1.0 Schematic Sheet 1/3
Image:Lisa_m_v1_0_sheet_2.png | LisaM V1.0 Schematic Sheet 2/3
Image:Lisa_m_v1_0_sheet_3.png | LisaM V1.0 Schematic Sheet 3/3
= Electrical Connections to the Airborne Equipment =
== Receivers ==
There is spectrum parser available already.
Also UART pins can be used as general purpose I/O to be used for PPM input.
Additionally [[http://www.aerofu.com/index.php?main_page=product_info&cPath=1&products_id=50 PPM encoder]] can be used to avoid receiver hardware modification.
= PCB =
== Gerber & Drill Files  ==
= Assembly =
== Components Layout ==
== Mechanical drawing ==
=== Bill Of Material ===
[[Category:User_Documentation]] [[Category:Hardware]]
= PCB and assembled boards suppliers =
For private companies and enthusiast Paparazzi hardware suppliers, see [[Get_Hardware|Get Hardware]] page.
= Downloads =
The CAD files are also available from the [http://svn.sv.gnu.org/svn/paparazzi/paparazzi-hardware/trunk/lisa_m/ paparazzi-hardware svn server]
* [[Image:Lisa m v1 0 sheet1 of 3.pdf]]
* [[Image:Lisa m v1 0 sheet2 of 3.pdf]]
* [[Image:Lisa m v1 0 sheet3 of 3.pdf]]
'''Source files'''
:*download ''LisaM v1.00 Eagle design (zip)''
'''Gerber & Drill files'''
:*download '' gerber & drill files (zip)''
'''Assembly files'''
:*download ''(pdf)''
:*download '' (zipped .xls file)''

Latest revision as of 07:46, 16 December 2012

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